/
mission_impl.cpp
1483 lines (1239 loc) · 57.6 KB
/
mission_impl.cpp
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#include "mission_impl.h"
#include "mission_item_impl.h"
#include "system.h"
#include "global_include.h"
#include <fstream> // for `std::ifstream`
#include <sstream> // for `std::stringstream`
#include <cmath>
namespace dronecode_sdk {
using namespace std::placeholders; // for `_1`
MissionImpl::MissionImpl(System &system) : PluginImplBase(system)
{
_parent->register_plugin(this);
}
MissionImpl::~MissionImpl()
{
_parent->unregister_plugin(this);
}
void MissionImpl::init()
{
_parent->register_mavlink_message_handler(
MAVLINK_MSG_ID_MISSION_REQUEST,
std::bind(&MissionImpl::process_mission_request, this, _1),
this);
_parent->register_mavlink_message_handler(
MAVLINK_MSG_ID_MISSION_REQUEST_INT,
std::bind(&MissionImpl::process_mission_request_int, this, _1),
this);
_parent->register_mavlink_message_handler(
MAVLINK_MSG_ID_MISSION_ACK, std::bind(&MissionImpl::process_mission_ack, this, _1), this);
_parent->register_mavlink_message_handler(
MAVLINK_MSG_ID_MISSION_CURRENT,
std::bind(&MissionImpl::process_mission_current, this, _1),
this);
_parent->register_mavlink_message_handler(
MAVLINK_MSG_ID_MISSION_ITEM_REACHED,
std::bind(&MissionImpl::process_mission_item_reached, this, _1),
this);
_parent->register_mavlink_message_handler(
MAVLINK_MSG_ID_MISSION_COUNT,
std::bind(&MissionImpl::process_mission_count, this, _1),
this);
_parent->register_mavlink_message_handler(
MAVLINK_MSG_ID_MISSION_ITEM_INT,
std::bind(&MissionImpl::process_mission_item_int, this, _1),
this);
}
void MissionImpl::enable() {}
void MissionImpl::disable() {}
void MissionImpl::deinit()
{
_parent->unregister_timeout_handler(_timeout_cookie);
_parent->unregister_all_mavlink_message_handlers(this);
}
void MissionImpl::process_mission_request(const mavlink_message_t &unused)
{
// We only support int, so we nack this and thus tell the autopilot to use int.
UNUSED(unused);
mavlink_message_t message;
mavlink_msg_mission_ack_pack(GCSClient::system_id,
GCSClient::component_id,
&message,
_parent->get_system_id(),
_parent->get_autopilot_id(),
MAV_MISSION_UNSUPPORTED,
MAV_MISSION_TYPE_MISSION);
_parent->send_message(message);
// Reset the timeout because we're still communicating.
_parent->refresh_timeout_handler(_timeout_cookie);
}
void MissionImpl::process_mission_request_int(const mavlink_message_t &message)
{
mavlink_mission_request_int_t mission_request_int;
mavlink_msg_mission_request_int_decode(&message, &mission_request_int);
if (mission_request_int.target_system != GCSClient::system_id &&
mission_request_int.target_component != GCSClient::component_id) {
LogWarn() << "Ignore mission request int that is not for us";
return;
}
{
std::lock_guard<std::mutex> lock(_activity.mutex);
if (_activity.state == Activity::State::SET_MISSION_COUNT) {
_activity.state = Activity::State::SET_MISSION_ITEM;
}
if (_activity.state != Activity::State::SET_MISSION_ITEM) {
if (_activity.state != Activity::State::ABORTED) {
LogWarn() << "Ignoring mission request int, not active";
}
return;
}
}
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
_mission_data.retries = 0;
_mission_data.last_mission_item_to_upload = mission_request_int.seq;
}
upload_mission_item();
// Reset the timeout because we're still communicating.
_parent->refresh_timeout_handler(_timeout_cookie);
}
void MissionImpl::process_mission_ack(const mavlink_message_t &message)
{
// LogDebug() << "Received mission ack";
{
std::lock_guard<std::mutex> lock(_activity.mutex);
if (_activity.state != Activity::State::SET_MISSION_ITEM) {
if (_activity.state != Activity::State::ABORTED) {
LogWarn() << "Error: not sure how to process Mission ack.";
}
return;
}
}
mavlink_mission_ack_t mission_ack;
mavlink_msg_mission_ack_decode(&message, &mission_ack);
if (mission_ack.target_system != GCSClient::system_id &&
mission_ack.target_component != GCSClient::component_id) {
LogWarn() << "Ignore mission ack that is not for us";
return;
}
// We got some response, so it wasn't a timeout and we can remove it.
_parent->unregister_timeout_handler(_timeout_cookie);
Mission::result_callback_t result_callback;
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
result_callback = _mission_data.result_callback;
}
if (mission_ack.type == MAV_MISSION_ACCEPTED) {
{
std::lock_guard<std::mutex> lock(_activity.mutex);
_activity.state = Activity::State::NONE;
}
report_mission_result(result_callback, Mission::Result::SUCCESS);
LogInfo() << "Mission accepted";
} else if (mission_ack.type == MAV_MISSION_NO_SPACE) {
LogErr() << "Error: too many waypoints: " << int(mission_ack.type);
report_mission_result(result_callback, Mission::Result::TOO_MANY_MISSION_ITEMS);
} else {
LogErr() << "Error: unknown mission ack: " << int(mission_ack.type);
report_mission_result(result_callback, Mission::Result::ERROR);
}
}
void MissionImpl::process_mission_current(const mavlink_message_t &message)
{
mavlink_mission_current_t mission_current;
mavlink_msg_mission_current_decode(&message, &mission_current);
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
_mission_data.last_current_mavlink_mission_item = mission_current.seq;
}
report_progress();
{
std::lock_guard<std::mutex> lock(_activity.mutex);
if (_activity.state != Activity::State::SET_CURRENT) {
return;
}
}
// We use these flags to make sure we only lock one mutex at a time,
// and make sure the scope of the lock is obvious.
bool set_current_successful = false;
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
if (_mission_data.last_current_mavlink_mission_item == mission_current.seq) {
set_current_successful = true;
}
}
if (set_current_successful) {
report_mission_result(_mission_data.result_callback, Mission::Result::SUCCESS);
_parent->unregister_timeout_handler(_timeout_cookie);
{
std::lock_guard<std::mutex> lock(_activity.mutex);
_activity.state = Activity::State::NONE;
}
}
}
void MissionImpl::process_mission_item_reached(const mavlink_message_t &message)
{
mavlink_mission_item_reached_t mission_item_reached;
mavlink_msg_mission_item_reached_decode(&message, &mission_item_reached);
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
_mission_data.last_reached_mavlink_mission_item = mission_item_reached.seq;
}
report_progress();
}
void MissionImpl::process_mission_count(const mavlink_message_t &message)
{
{
std::lock_guard<std::mutex> lock(_activity.mutex);
if (_activity.state != Activity::State::GET_MISSION_LIST) {
return;
}
_activity.state = Activity::State::GET_MISSION_REQUEST;
}
mavlink_mission_count_t mission_count;
mavlink_msg_mission_count_decode(&message, &mission_count);
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
_mission_data.num_mission_items_to_download = mission_count.count;
_mission_data.next_mission_item_to_download = 0;
_mission_data.retries = 0;
}
_parent->refresh_timeout_handler(_timeout_cookie);
download_next_mission_item();
}
void MissionImpl::process_mission_item_int(const mavlink_message_t &message)
{
{
std::lock_guard<std::mutex> lock(_activity.mutex);
if (_activity.state != Activity::State::GET_MISSION_REQUEST) {
return;
}
}
auto mission_item_int_ptr = std::make_shared<mavlink_mission_item_int_t>();
mavlink_msg_mission_item_int_decode(&message, mission_item_int_ptr.get());
// LogDebug() << "Received mission item int: " << int(mission_item_int_ptr->seq);
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
if (mission_item_int_ptr->seq == _mission_data.next_mission_item_to_download) {
LogDebug() << "Received mission item " << _mission_data.next_mission_item_to_download;
_mission_data.mavlink_mission_items_downloaded.push_back(mission_item_int_ptr);
_mission_data.retries = 0;
if (_mission_data.next_mission_item_to_download + 1 ==
_mission_data.num_mission_items_to_download) {
// Wrap things up if we're finished.
_parent->unregister_timeout_handler(_timeout_cookie);
mavlink_message_t ack_message;
mavlink_msg_mission_ack_pack(GCSClient::system_id,
GCSClient::component_id,
&ack_message,
_parent->get_system_id(),
_parent->get_autopilot_id(),
MAV_MISSION_ACCEPTED,
MAV_MISSION_TYPE_MISSION);
_parent->send_message(ack_message);
assemble_mission_items();
} else {
// Otherwise keep going.
++_mission_data.next_mission_item_to_download;
_parent->refresh_timeout_handler(_timeout_cookie);
download_next_mission_item();
}
} else {
LogDebug() << "Received mission item " << int(mission_item_int_ptr->seq)
<< " instead of " << _mission_data.next_mission_item_to_download
<< " (ignored)";
// Refresh because we at least still seem to be active.
_parent->refresh_timeout_handler(_timeout_cookie);
// And request it again in case our request got lost.
download_next_mission_item();
return;
}
}
}
void MissionImpl::upload_mission_async(
const std::vector<std::shared_ptr<MissionItem>> &mission_items,
const Mission::result_callback_t &callback)
{
bool should_report_mission_result = false;
{
std::lock_guard<std::mutex> lock(_activity.mutex);
if (_activity.state == Activity::State::ABORTED) {
_activity.state = Activity::State::NONE;
}
if (_activity.state != Activity::State::NONE) {
should_report_mission_result = true;
}
}
if (should_report_mission_result) {
report_mission_result(callback, Mission::Result::BUSY);
return;
}
if (!_parent->does_support_mission_int()) {
LogWarn() << "Mission int messages not supported";
report_mission_result(callback, Mission::Result::ERROR);
return;
}
copy_mission_item_vector(mission_items);
assemble_mavlink_messages();
_parent->register_timeout_handler(
std::bind(&MissionImpl::process_timeout, this), RETRY_TIMEOUT_S, &_timeout_cookie);
{
std::lock_guard<std::mutex> lock(_activity.mutex);
_activity.state = Activity::State::SET_MISSION_COUNT;
}
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
_mission_data.result_callback = callback;
_mission_data.retries = 0;
}
send_count();
}
void MissionImpl::send_count()
{
mavlink_message_t message;
mavlink_msg_mission_count_pack(GCSClient::system_id,
GCSClient::component_id,
&message,
_parent->get_system_id(),
_parent->get_autopilot_id(),
_mission_data.mavlink_mission_item_messages.size(),
MAV_MISSION_TYPE_MISSION);
if (!_parent->send_message(message)) {
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
report_mission_result(_mission_data.result_callback, Mission::Result::ERROR);
return;
}
}
void MissionImpl::upload_mission_cancel()
{
_parent->unregister_timeout_handler(_timeout_cookie);
{
std::lock_guard<std::mutex> lock(_activity.mutex);
if (_activity.state != Activity::State::SET_MISSION_COUNT &&
_activity.state != Activity::State::SET_MISSION_ITEM) {
LogWarn() << "No mission upload in progress";
return;
}
_activity.state = Activity::State::ABORTED;
}
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
report_mission_result(_mission_data.result_callback, Mission::Result::CANCELLED);
mavlink_message_t message;
mavlink_msg_mission_ack_pack(GCSClient::system_id,
GCSClient::component_id,
&message,
_parent->get_system_id(),
_parent->get_autopilot_id(),
MAV_MISSION_DENIED,
MAV_MISSION_TYPE_MISSION);
_parent->send_message(message);
_mission_data.mavlink_mission_items_downloaded.clear();
_mission_data.retries = 0;
_mission_data.result_callback = nullptr;
}
}
void MissionImpl::download_mission_async(
const Mission::mission_items_and_result_callback_t &callback)
{
bool should_report_mission_items_and_result = false;
{
std::lock_guard<std::mutex> lock(_activity.mutex);
if (_activity.state == Activity::State::ABORTED) {
_activity.state = Activity::State::NONE;
}
if (_activity.state != Activity::State::NONE) {
should_report_mission_items_and_result = true;
}
}
if (should_report_mission_items_and_result) {
report_mission_items_and_result(callback, Mission::Result::BUSY);
return;
}
_parent->register_timeout_handler(
std::bind(&MissionImpl::process_timeout, this), RETRY_TIMEOUT_S, &_timeout_cookie);
{
std::lock_guard<std::mutex> lock(_activity.mutex);
_activity.state = Activity::State::GET_MISSION_LIST;
}
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
// Clear our internal cache and re-populate it.
_mission_data.mavlink_mission_items_downloaded.clear();
_mission_data.retries = 0;
_mission_data.mission_items_and_result_callback = callback;
}
request_list();
}
void MissionImpl::request_list()
{
mavlink_message_t message;
mavlink_msg_mission_request_list_pack(GCSClient::system_id,
GCSClient::component_id,
&message,
_parent->get_system_id(),
_parent->get_autopilot_id(),
MAV_MISSION_TYPE_MISSION);
if (!_parent->send_message(message)) {
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
report_mission_items_and_result(_mission_data.mission_items_and_result_callback,
Mission::Result::CANCELLED);
return;
}
}
void MissionImpl::download_mission_cancel()
{
_parent->unregister_timeout_handler(_timeout_cookie);
{
std::lock_guard<std::mutex> lock(_activity.mutex);
if (_activity.state != Activity::State::GET_MISSION_LIST &&
_activity.state != Activity::State::GET_MISSION_REQUEST) {
LogWarn() << "No mission download in progress";
return;
}
_activity.state = Activity::State::ABORTED;
}
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
report_mission_items_and_result(_mission_data.mission_items_and_result_callback,
Mission::Result::CANCELLED);
mavlink_message_t message;
mavlink_msg_mission_ack_pack(GCSClient::system_id,
GCSClient::component_id,
&message,
_parent->get_system_id(),
_parent->get_autopilot_id(),
MAV_MISSION_DENIED,
MAV_MISSION_TYPE_MISSION);
_parent->send_message(message);
_mission_data.mavlink_mission_items_downloaded.clear();
_mission_data.retries = 0;
_mission_data.mission_items_and_result_callback = nullptr;
}
}
void MissionImpl::set_return_to_launch_after_mission(bool enable_rtl)
{
_enable_return_to_launch_after_mission = enable_rtl;
}
bool MissionImpl::get_return_to_launch_after_mission()
{
return _enable_return_to_launch_after_mission;
}
void MissionImpl::assemble_mavlink_messages()
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
_mission_data.mavlink_mission_item_messages.clear();
bool last_position_valid = false; // This flag is to protect us from using an invalid x/y.
MAV_FRAME last_frame;
int32_t last_x;
int32_t last_y;
float last_z;
unsigned item_i = 0;
for (auto item : _mission_data.mission_items) {
MissionItemImpl &mission_item_impl = (*(item)->_impl);
if (mission_item_impl.is_position_finite()) {
// Current is the 0th waypoint
uint8_t current = ((_mission_data.mavlink_mission_item_messages.size() == 0) ? 1 : 0);
auto message = std::make_shared<mavlink_message_t>();
mavlink_msg_mission_item_int_pack(GCSClient::system_id,
GCSClient::component_id,
message.get(),
_parent->get_system_id(),
_parent->get_autopilot_id(),
_mission_data.mavlink_mission_item_messages.size(),
mission_item_impl.get_mavlink_frame(),
mission_item_impl.get_mavlink_cmd(),
current,
mission_item_impl.get_mavlink_autocontinue(),
mission_item_impl.get_mavlink_param1(),
mission_item_impl.get_mavlink_param2(),
mission_item_impl.get_mavlink_param3(),
mission_item_impl.get_mavlink_param4(),
mission_item_impl.get_mavlink_x(),
mission_item_impl.get_mavlink_y(),
mission_item_impl.get_mavlink_z(),
MAV_MISSION_TYPE_MISSION);
last_position_valid = true; // because we checked is_position_finite
last_x = mission_item_impl.get_mavlink_x();
last_y = mission_item_impl.get_mavlink_y();
last_z = mission_item_impl.get_mavlink_z();
last_frame = mission_item_impl.get_mavlink_frame();
_mission_data.mavlink_mission_item_to_mission_item_indices.insert(std::pair<int, int>{
static_cast<int>(_mission_data.mavlink_mission_item_messages.size()), item_i});
_mission_data.mavlink_mission_item_messages.push_back(message);
}
if (std::isfinite(mission_item_impl.get_speed_m_s())) {
// The speed has changed, we need to add a speed command.
// Current is the 0th waypoint
uint8_t current = ((_mission_data.mavlink_mission_item_messages.size() == 0) ? 1 : 0);
uint8_t autocontinue = 1;
auto message_speed = std::make_shared<mavlink_message_t>();
mavlink_msg_mission_item_int_pack(GCSClient::system_id,
GCSClient::component_id,
message_speed.get(),
_parent->get_system_id(),
_parent->get_autopilot_id(),
_mission_data.mavlink_mission_item_messages.size(),
MAV_FRAME_MISSION,
MAV_CMD_DO_CHANGE_SPEED,
current,
autocontinue,
1.0f, // ground speed
mission_item_impl.get_speed_m_s(),
-1.0f, // no throttle change
0.0f, // absolute
0,
0,
NAN,
MAV_MISSION_TYPE_MISSION);
_mission_data.mavlink_mission_item_to_mission_item_indices.insert(std::pair<int, int>{
static_cast<int>(_mission_data.mavlink_mission_item_messages.size()), item_i});
_mission_data.mavlink_mission_item_messages.push_back(message_speed);
}
if (std::isfinite(mission_item_impl.get_gimbal_yaw_deg()) ||
std::isfinite(mission_item_impl.get_gimbal_pitch_deg())) {
if (_enable_absolute_gimbal_yaw_angle) {
// We need to configure the gimbal to use an absolute angle.
// Current is the 0th waypoint
uint8_t current =
((_mission_data.mavlink_mission_item_messages.size() == 0) ? 1 : 0);
uint8_t autocontinue = 1;
auto message_gimbal_configure = std::make_shared<mavlink_message_t>();
mavlink_msg_mission_item_int_pack(
GCSClient::system_id,
GCSClient::component_id,
message_gimbal_configure.get(),
_parent->get_system_id(),
_parent->get_autopilot_id(),
_mission_data.mavlink_mission_item_messages.size(),
MAV_FRAME_MISSION,
MAV_CMD_DO_MOUNT_CONFIGURE,
current,
autocontinue,
MAV_MOUNT_MODE_MAVLINK_TARGETING,
0.0f, // stabilize roll
0.0f, // stabilize pitch
1.0f, // stabilize yaw, FIXME: for now we use this for an absolute yaw angle,
// because it works.
0,
0,
2.0f, // eventually this is the correct flag to set absolute yaw angle.
MAV_MISSION_TYPE_MISSION);
_mission_data.mavlink_mission_item_to_mission_item_indices.insert(
std::pair<int, int>{
static_cast<int>(_mission_data.mavlink_mission_item_messages.size()),
item_i});
_mission_data.mavlink_mission_item_messages.push_back(message_gimbal_configure);
}
// The gimbal has changed, we need to add a gimbal command.
// Current is the 0th waypoint
uint8_t current = ((_mission_data.mavlink_mission_item_messages.size() == 0) ? 1 : 0);
uint8_t autocontinue = 1;
auto message_gimbal = std::make_shared<mavlink_message_t>();
mavlink_msg_mission_item_int_pack(GCSClient::system_id,
GCSClient::component_id,
message_gimbal.get(),
_parent->get_system_id(),
_parent->get_autopilot_id(),
_mission_data.mavlink_mission_item_messages.size(),
MAV_FRAME_MISSION,
MAV_CMD_DO_MOUNT_CONTROL,
current,
autocontinue,
mission_item_impl.get_gimbal_pitch_deg(), // pitch
0.0f, // roll (yes it is a weird order)
mission_item_impl.get_gimbal_yaw_deg(), // yaw
NAN,
0,
0,
MAV_MOUNT_MODE_MAVLINK_TARGETING,
MAV_MISSION_TYPE_MISSION);
_mission_data.mavlink_mission_item_to_mission_item_indices.insert(std::pair<int, int>{
static_cast<int>(_mission_data.mavlink_mission_item_messages.size()), item_i});
_mission_data.mavlink_mission_item_messages.push_back(message_gimbal);
}
// FIXME: It is a bit of a hack to set a LOITER_TIME waypoint to add a delay.
// A better solution would be to properly use NAV_DELAY instead. This
// would not require us to keep the last lat/lon.
// A loiter time of NAN is ignored but also a loiter time of 0 doesn't
// make any sense and should be discarded.
if (std::isfinite(mission_item_impl.get_loiter_time_s()) &&
mission_item_impl.get_loiter_time_s() > 0.0f) {
if (!last_position_valid) {
// In the case where we get a delay without a previous position, we will have to
// ignore it.
LogErr() << "Can't set camera action delay without previous position set.";
} else {
// Current is the 0th waypoint
uint8_t current =
((_mission_data.mavlink_mission_item_messages.size() == 0) ? 1 : 0);
uint8_t autocontinue = 1;
std::shared_ptr<mavlink_message_t> message_delay(new mavlink_message_t());
mavlink_msg_mission_item_int_pack(
GCSClient::system_id,
GCSClient::component_id,
message_delay.get(),
_parent->get_system_id(),
_parent->get_autopilot_id(),
_mission_data.mavlink_mission_item_messages.size(),
last_frame,
MAV_CMD_NAV_LOITER_TIME,
current,
autocontinue,
mission_item_impl.get_loiter_time_s(), // loiter time in seconds
NAN, // empty
0.0f, // radius around waypoint in meters ?
NAN, // don't change yaw
last_x,
last_y,
last_z,
MAV_MISSION_TYPE_MISSION);
_mission_data.mavlink_mission_item_to_mission_item_indices.insert(
std::pair<int, int>{
static_cast<int>(_mission_data.mavlink_mission_item_messages.size()),
item_i});
_mission_data.mavlink_mission_item_messages.push_back(message_delay);
}
if (mission_item_impl.get_fly_through()) {
LogWarn() << "Conflicting options set: fly_through=true and loiter_time>0.";
}
}
if (mission_item_impl.get_camera_action() != MissionItem::CameraAction::NONE) {
// There is a camera action that we need to send.
// Current is the 0th waypoint
uint8_t current = ((_mission_data.mavlink_mission_item_messages.size() == 0) ? 1 : 0);
uint8_t autocontinue = 1;
uint16_t command = 0;
float param1 = NAN;
float param2 = NAN;
float param3 = NAN;
switch (mission_item_impl.get_camera_action()) {
case MissionItem::CameraAction::TAKE_PHOTO:
command = MAV_CMD_IMAGE_START_CAPTURE;
param1 = 0.0f; // all camera IDs
param2 = 0.0f; // no duration, take only one picture
param3 = 1.0f; // only take one picture
break;
case MissionItem::CameraAction::START_PHOTO_INTERVAL:
command = MAV_CMD_IMAGE_START_CAPTURE;
param1 = 0.0f; // all camera IDs
param2 = mission_item_impl.get_camera_photo_interval_s();
param3 = 0.0f; // unlimited photos
break;
case MissionItem::CameraAction::STOP_PHOTO_INTERVAL:
command = MAV_CMD_IMAGE_STOP_CAPTURE;
param1 = 0.0f; // all camera IDs
break;
case MissionItem::CameraAction::START_VIDEO:
command = MAV_CMD_VIDEO_START_CAPTURE;
param1 = 0.0f; // all camera IDs
break;
case MissionItem::CameraAction::STOP_VIDEO:
command = MAV_CMD_VIDEO_STOP_CAPTURE;
param1 = 0.0f; // all camera IDs
break;
default:
LogErr() << "Error: camera action not supported";
break;
}
auto message_camera = std::make_shared<mavlink_message_t>();
mavlink_msg_mission_item_int_pack(GCSClient::system_id,
GCSClient::component_id,
message_camera.get(),
_parent->get_system_id(),
_parent->get_autopilot_id(),
_mission_data.mavlink_mission_item_messages.size(),
MAV_FRAME_MISSION,
command,
current,
autocontinue,
param1,
param2,
param3,
NAN,
0,
0,
NAN,
MAV_MISSION_TYPE_MISSION);
_mission_data.mavlink_mission_item_to_mission_item_indices.insert(std::pair<int, int>{
static_cast<int>(_mission_data.mavlink_mission_item_messages.size()), item_i});
_mission_data.mavlink_mission_item_messages.push_back(message_camera);
}
++item_i;
}
// We need to decrement the item_i again because it was increased in the loop above
// but the RTL item below still belongs to the last mission item.
--item_i;
if (_enable_return_to_launch_after_mission) {
std::shared_ptr<mavlink_message_t> message_rtl(new mavlink_message_t());
mavlink_msg_mission_item_int_pack(GCSClient::system_id,
GCSClient::component_id,
message_rtl.get(),
_parent->get_system_id(),
_parent->get_autopilot_id(),
_mission_data.mavlink_mission_item_messages.size(),
MAV_FRAME_MISSION,
MAV_CMD_NAV_RETURN_TO_LAUNCH,
0, // current
1, // autocontinue
NAN, // loiter time in seconds
NAN, // empty
NAN, // radius around waypoint in meters ?
NAN, // loiter at center of waypoint
0,
0,
0,
MAV_MISSION_TYPE_MISSION);
_mission_data.mavlink_mission_item_to_mission_item_indices.insert(std::pair<int, int>{
static_cast<int>(_mission_data.mavlink_mission_item_messages.size()), item_i});
_mission_data.mavlink_mission_item_messages.push_back(message_rtl);
}
}
void MissionImpl::assemble_mission_items()
{
Mission::Result result = Mission::Result::SUCCESS;
Mission::mission_items_and_result_callback_t callback;
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
_mission_data.mission_items.clear();
_mission_data.mavlink_mission_item_to_mission_item_indices.clear();
_enable_return_to_launch_after_mission = false;
auto new_mission_item = std::make_shared<MissionItem>();
bool have_set_position = false;
if (_mission_data.mavlink_mission_items_downloaded.size() > 0) {
// The first mission item needs to be a waypoint with position.
if (_mission_data.mavlink_mission_items_downloaded.at(0)->command !=
MAV_CMD_NAV_WAYPOINT) {
LogErr() << "First mission item is not a waypoint";
result = Mission::Result::UNSUPPORTED;
return;
}
}
if (_mission_data.mavlink_mission_items_downloaded.size() == 0) {
LogErr() << "No downloaded mission items";
result = Mission::Result::NO_MISSION_AVAILABLE;
return;
}
int mavlink_item_i = 0;
for (auto &it : _mission_data.mavlink_mission_items_downloaded) {
LogDebug() << "Assembling Message: " << int(it->seq);
if (it->command == MAV_CMD_NAV_WAYPOINT) {
if (it->frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
LogErr() << "Waypoint frame not supported unsupported";
result = Mission::Result::UNSUPPORTED;
break;
}
if (have_set_position) {
// When a new position comes in, create next mission item.
_mission_data.mission_items.push_back(new_mission_item);
new_mission_item = std::make_shared<MissionItem>();
have_set_position = false;
}
new_mission_item->set_position(double(it->x) * 1e-7, double(it->y) * 1e-7);
new_mission_item->set_relative_altitude(it->z);
new_mission_item->set_fly_through(!(it->param1 > 0));
have_set_position = true;
} else if (it->command == MAV_CMD_DO_MOUNT_CONTROL) {
if (int(it->z) != MAV_MOUNT_MODE_MAVLINK_TARGETING) {
LogErr() << "Gimbal mount control mode unsupported";
result = Mission::Result::UNSUPPORTED;
break;
}
new_mission_item->set_gimbal_pitch_and_yaw(it->param1, it->param3);
} else if (it->command == MAV_CMD_DO_MOUNT_CONFIGURE) {
if (int(it->param1) != MAV_MOUNT_MODE_MAVLINK_TARGETING) {
LogErr() << "Gimbal mount configure mode unsupported";
result = Mission::Result::UNSUPPORTED;
break;
}
// FIXME: ultimately param4 doesn't count anymore and
// param7 holds the truth.
if (int(it->param4) == 1 || int(it->z) == 2) {
_enable_absolute_gimbal_yaw_angle = true;
} else {
_enable_absolute_gimbal_yaw_angle = false;
}
} else if (it->command == MAV_CMD_IMAGE_START_CAPTURE) {
if (it->param2 > 0 && int(it->param3) == 0) {
new_mission_item->set_camera_action(
MissionItem::CameraAction::START_PHOTO_INTERVAL);
new_mission_item->set_camera_photo_interval(double(it->param2));
} else if (int(it->param2) == 0 && int(it->param3) == 1) {
new_mission_item->set_camera_action(MissionItem::CameraAction::TAKE_PHOTO);
} else {
LogErr() << "Mission item START_CAPTURE params unsupported.";
result = Mission::Result::UNSUPPORTED;
break;
}
} else if (it->command == MAV_CMD_IMAGE_STOP_CAPTURE) {
new_mission_item->set_camera_action(MissionItem::CameraAction::STOP_PHOTO_INTERVAL);
} else if (it->command == MAV_CMD_VIDEO_START_CAPTURE) {
new_mission_item->set_camera_action(MissionItem::CameraAction::START_VIDEO);
} else if (it->command == MAV_CMD_VIDEO_STOP_CAPTURE) {
new_mission_item->set_camera_action(MissionItem::CameraAction::STOP_VIDEO);
} else if (it->command == MAV_CMD_DO_CHANGE_SPEED) {
if (int(it->param1) == 1 && it->param3 < 0 && int(it->param4) == 0) {
new_mission_item->set_speed(it->param2);
} else {
LogErr() << "Mission item DO_CHANGE_SPEED params unsupported";
result = Mission::Result::UNSUPPORTED;
}
} else if (it->command == MAV_CMD_NAV_LOITER_TIME) {
new_mission_item->set_loiter_time(it->param1);
} else if (it->command == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
_enable_return_to_launch_after_mission = true;
} else {
LogErr() << "UNSUPPORTED mission item command (" << it->command << ")";
result = Mission::Result::UNSUPPORTED;
break;
}
_mission_data.mavlink_mission_item_to_mission_item_indices.insert(std::pair<int, int>{
mavlink_item_i, static_cast<int>(_mission_data.mission_items.size())});
++mavlink_item_i;
}
// Don't forget to add last mission item.
_mission_data.mission_items.push_back(new_mission_item);
// Copy the callback out of the locked scope.
callback = _mission_data.mission_items_and_result_callback;
}
report_mission_items_and_result(callback, result);
{
std::lock_guard<std::mutex> lock(_activity.mutex);
_activity.state = Activity::State::NONE;
}
}
void MissionImpl::download_next_mission_item()
{
mavlink_message_t message;
{
std::lock_guard<std::recursive_mutex> lock(_mission_data.mutex);
mavlink_msg_mission_request_int_pack(GCSClient::system_id,
GCSClient::component_id,
&message,
_parent->get_system_id(),
_parent->get_autopilot_id(),
_mission_data.next_mission_item_to_download,
MAV_MISSION_TYPE_MISSION);
LogDebug() << "Requested mission item " << _mission_data.next_mission_item_to_download;
}
_parent->send_message(message);
}
void MissionImpl::start_mission_async(const Mission::result_callback_t &callback)
{
bool should_report_mission_result = false;
{
std::lock_guard<std::mutex> lock(_activity.mutex);
if (_activity.state == Activity::State::ABORTED) {
_activity.state = Activity::State::NONE;
}
if (_activity.state != Activity::State::NONE) {