AC_Avoid: add and use AC_AVOID_ENABLED #24624

shiv-tyagi · 2023-08-12T15:26:56Z

This creates AC_Avoid_config.h and moves AC_AVOID_ENABLED from copter's config.h to that file. Also uses AC_AVOID_ENABLED around the code related to AC_Avoid.

peterbarker

Generally looks good, but the size-checks highlight the fact we've lost the pathplanning on Rover 1MB boards, and there's actually not much that can be done to fix that problem. Let's see what people say about that problem before trying to do anything about it.
.

peterbarker · 2023-08-14T02:51:22Z

Rover/GCS_Mavlink.cpp

@@ -378,6 +378,7 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
        rover.g2.windvane.send_wind(chan);
        break;

+#if AC_OAPATHPLANNER_ENABLED


Suggested change

#if AC_OAPATHPLANNER_ENABLED

#if AP_OAPATHPLANNER_ENABLED

... and elswhere likewise. The fact we're using this in Rover means a new define should work like this.

AC_AVOID is more complicated given we also have AP_Avoidance which is a different sort of avoidance.

peterbarker · 2023-08-14T02:55:25Z

libraries/AP_Proximity/AP_Proximity_Backend.cpp

@@ -88,7 +88,7 @@ bool AP_Proximity_Backend::ignore_reading(float pitch, float yaw, float distance
 // returns true if database is ready to be pushed to and all cached data is ready
 bool AP_Proximity_Backend::database_prepare_for_push(Vector3f &current_pos, Matrix3f &body_to_ned)
 {
-#if !APM_BUILD_TYPE(APM_BUILD_AP_Periph)
+#if AC_OAPATHPLANNER_ENABLED && !APM_BUILD_TYPE(APM_BUILD_AP_Periph)


Suggested change

#if AC_OAPATHPLANNER_ENABLED && !APM_BUILD_TYPE(APM_BUILD_AP_Periph)

#if AC_OAPATHPLANNER_ENABLED

set AC_OAPATHPLANNER_ENABLED to zero in defaults_periph.h

Similarly elsewhere

peterbarker · 2023-08-14T03:17:13Z

Board               AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover   sub
Durandal                       *      *           *       *                 *      *       *
HerePro             *                                                                      
Hitec-Airspeed      *                                                                      
KakuteH7-bdshot                *      *           *       *                 *      *       *
MatekF405                      *      *           *       *                 *      -14096  *
Pixhawk1-1M-bdshot             *                  *       *                 *      -14096  *
f103-QiotekPeriph   *                                                                      
f303-Universal      *                                                                      
iomcu                                                           *                          
revo-mini                      *      *           *       *                 *      *       *
skyviper-v2450                                    *

peterbarker

Commit list needs fixing

peterbarker · 2023-08-25T03:06:14Z

ArduCopter/APM_Config.h

-//#define AC_OAPATHPLANNER_ENABLED DISABLED         // disable path planning around obstacles
+//#define AP_OAPATHPLANNER_ENABLED DISABLED         // disable path planning around obstacles


Should just remove it here.

Done. Thanks.

peterbarker · 2023-08-25T03:06:51Z

ArduCopter/AP_Arming.cpp

@@ -305,7 +305,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)

 bool AP_Arming_Copter::oa_checks(bool display_failure)
 {
-#if AC_OAPATHPLANNER_ENABLED == ENABLED
+#if AP_OAPATHPLANNER_ENABLED == ENABLED


Suggested change

#if AP_OAPATHPLANNER_ENABLED == ENABLED

#if AP_OAPATHPLANNER_ENABLED

similarly elsewhere

peterbarker · 2023-08-25T03:35:29Z

ArduCopter/config.h

-#ifndef AC_OAPATHPLANNER_ENABLED
- #define AC_OAPATHPLANNER_ENABLED   ENABLED
-#endif
-
 #if MODE_FOLLOW_ENABLED && !AC_AVOID_ENABLED


This is no longer true, is it?

Have you tested mode-follow with AC_AVOID disabled?

This was pre-existing and I have no idea if it is needed (haven't looked into follow mode code). Hence, I decided not to touch it at least in this PR.

peterbarker · 2023-08-25T04:05:01Z

libraries/AC_Avoidance/AC_Avoidance_Logging.cpp

@@ -58,8 +59,9 @@ void AP_OADijkstra::Write_Visgraph_point(const uint8_t version, const uint8_t po
    };
    AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+#endif


Suggested change

#endif

#endif // AP_OAPATHPLANNER_ENABLED

similarly anywhere else the excluded code is more than a few lines

peterbarker · 2023-08-25T04:05:27Z

libraries/AC_Avoidance/AP_OABendyRuler.cpp

@@ -13,6 +13,10 @@
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

+#include "AC_Avoid_config.h"
+
+#if AP_OAPATHPLANNER_ENABLED


Suggested change

#if AP_OAPATHPLANNER_ENABLED

#if AP_OAPATHPLANNER_BENDYRULER_ENABLED

peterbarker · 2023-08-25T04:06:17Z

libraries/AC_Avoidance/AP_OADijkstra.cpp

@@ -13,6 +13,10 @@
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

+#include "AC_Avoid_config.h"
+
+#if AP_OAPATHPLANNER_ENABLED


Suggested change

#if AP_OAPATHPLANNER_ENABLED

#if AP_OAPATHPLANNER_DIJKSTRA_ENABLED

peterbarker · 2023-08-25T04:08:46Z

libraries/AC_Avoidance/AC_Avoid_config.h

+
+#ifndef AP_OAPATHPLANNER_ENABLED
+#define AP_OAPATHPLANNER_ENABLED AC_AVOID_ENABLED
+#endif


Suggested change

#endif

#endif

#ifndef AP_OAPATHPLANNER_BACKEND_DEFAULT_ENABLED

#define AP_OAPATHPLANNER_BACKEND_DEFAULT_ENABLED AP_OAPATHPLANNER_ENABLED

#endif

#ifndef AP_OAPATHPLANNER_BENDYRULER_ENABLED

#define AP_OATHPATHPLANNER_BENDYRULER_ENABLED AP_OAPATHPLANNER_BACKEND_DEFAULT_ENABLED

#endif

... and dijkstra too

Done. Thanks.

peterbarker · 2023-08-25T04:09:36Z

libraries/AC_Avoidance/AC_Avoidance_Logging.cpp

@@ -3,6 +3,7 @@
 #include "AP_OABendyRuler.h"
 #include <AP_Logger/AP_Logger.h>

+#if AP_OAPATHPLANNER_ENABLED


Suggested change

#if AP_OAPATHPLANNER_ENABLED

#if AP_OAPATHPLANNER_ENABLED && HAL_LOGGING_ENABLED

... elsewhere too

Ummm... Can we do it in another PR? If we do this here, then we need to compile out the declarations of these methods from .h files and the places we are calling these methods based on #if HAL_LOGGING_ENABLED. Shouldn't all that go into a separate PR?

peterbarker · 2023-08-25T04:12:31Z

libraries/AC_WPNav/AC_WPNav_OA.cpp

+#include <AC_Avoidance/AC_Avoid_config.h>
+
+#if AP_OAPATHPLANNER_ENABLED


Suggested change

#include <AC_Avoidance/AC_Avoid_config.h>

#if AP_OAPATHPLANNER_ENABLED

#include "AC_WPNav_config.h"

#if AC_WPNAV_OBJECTAVOIDANCE_ENABLED

... and define it based on AC_OAPATHPLANNER_ENABLED by default

Done. Thanks.

…athplanner

…NABLED

shiv-tyagi force-pushed the pr-AC_AVOID_ENABLED branch 3 times, most recently from 8fecb51 to 730fc33 Compare August 13, 2023 09:31

peterbarker requested changes Aug 14, 2023

View reviewed changes

shiv-tyagi force-pushed the pr-AC_AVOID_ENABLED branch from 730fc33 to fa625f1 Compare August 14, 2023 14:50

shiv-tyagi requested a review from peterbarker August 15, 2023 05:35

shiv-tyagi force-pushed the pr-AC_AVOID_ENABLED branch from fa625f1 to f471d5d Compare August 15, 2023 05:37

peterbarker requested changes Aug 15, 2023

View reviewed changes

shiv-tyagi force-pushed the pr-AC_AVOID_ENABLED branch 2 times, most recently from 3188a37 to a92b389 Compare August 20, 2023 14:48

peterbarker requested changes Aug 25, 2023

View reviewed changes

shiv-tyagi force-pushed the pr-AC_AVOID_ENABLED branch from a92b389 to adafe98 Compare August 25, 2023 06:53

shiv-tyagi requested a review from peterbarker August 25, 2023 06:55

shiv-tyagi force-pushed the pr-AC_AVOID_ENABLED branch from adafe98 to b4f90e9 Compare August 26, 2023 04:25

shiv-tyagi added 12 commits August 30, 2023 08:25

AC_Avoid: add and use AC_AVOID_ENABLED

bb2257e

Copter: move AC_AVOID_ENABLED to AC_Avoid_config.h

fc5c471

Copter: use AC_AVOID_ENABLED and AP_OAPATHPLANNER_ENABLED

2c96f6f

AC_WPNav: use AC_AVOID_ENABLED

f307d00

AP_Proximity: use AP_OAPATHPLANNER_ENABLED

89fbb4c

AR_PosControl: use AC_AVOID_ENABLED

7dec6e6

GCS_MAVLink: use AC_AVOID_ENABLED

ca4b4c3

RC_Channel: use AC_AVOID_ENABLED

45c6e0c

Rover: use AC_AVOID_ENABLED and AP_OAPATHPLANNER_ENABLED

eedace9

AC_WPNav: create config file and make AC_WPNav_OA dependent on AP_OAP…

1fbe242

…athplanner

AP_HAL: rename AC_OAPATHPLANNER_ENABLED to AP_OAPATHPLANNER_ENABLED

b5e753d

AP_HAL_ChibiOS: rename AC_OAPATHPLANNER_ENABLED to AP_OAPATHPLANNER_E…

0177c05

…NABLED

shiv-tyagi force-pushed the pr-AC_AVOID_ENABLED branch from b4f90e9 to 0177c05 Compare August 30, 2023 02:56

shiv-tyagi mentioned this pull request Dec 13, 2023

AP_LocationDB: add implementation of location database #24429

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AC_Avoid: add and use AC_AVOID_ENABLED #24624

AC_Avoid: add and use AC_AVOID_ENABLED #24624

shiv-tyagi commented Aug 12, 2023 •

edited

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	#if AC_OAPATHPLANNER_ENABLED && !APM_BUILD_TYPE(APM_BUILD_AP_Periph)
	#if AC_OAPATHPLANNER_ENABLED

		//#define AC_OAPATHPLANNER_ENABLED DISABLED // disable path planning around obstacles
		//#define AP_OAPATHPLANNER_ENABLED DISABLED // disable path planning around obstacles

	#if AP_OAPATHPLANNER_ENABLED == ENABLED
	#if AP_OAPATHPLANNER_ENABLED

	#if AP_OAPATHPLANNER_ENABLED
	#if AP_OAPATHPLANNER_BENDYRULER_ENABLED

	#if AP_OAPATHPLANNER_ENABLED
	#if AP_OAPATHPLANNER_DIJKSTRA_ENABLED

-#endif
+#endif
+#ifndef AP_OAPATHPLANNER_BACKEND_DEFAULT_ENABLED
+#define AP_OAPATHPLANNER_BACKEND_DEFAULT_ENABLED AP_OAPATHPLANNER_ENABLED
+#endif
+#ifndef AP_OAPATHPLANNER_BENDYRULER_ENABLED
+#define AP_OATHPATHPLANNER_BENDYRULER_ENABLED  AP_OAPATHPLANNER_BACKEND_DEFAULT_ENABLED
+#endif

	#if AP_OAPATHPLANNER_ENABLED
	#if AP_OAPATHPLANNER_ENABLED && HAL_LOGGING_ENABLED

		#include <AC_Avoidance/AC_Avoid_config.h>

		#if AP_OAPATHPLANNER_ENABLED

AC_Avoid: add and use AC_AVOID_ENABLED #24624

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AC_Avoid: add and use AC_AVOID_ENABLED #24624

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shiv-tyagi commented Aug 12, 2023 • edited

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peterbarker commented Aug 14, 2023

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shiv-tyagi commented Aug 12, 2023 •

edited