/*======================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009-2011 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
========================================================================*/
/**
* @file
* @brief a program to manage waypoints and exchange them with the ground station
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Benjamin Knecht <bknecht@student.ethz.ch>
* @author Christian Schluchter <schluchc@ee.ethz.ch>
*/
#include <cmath>
#include "MAVLinkSimulationWaypointPlanner.h"
#include "QGC.h"
#include <QDebug>
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
class PxMatrix3x3;
/**
* @brief Pixhawk 3D vector class, can be cast to a local OpenCV CvMat.
*
*/
class PxVector3
{
public:
/** @brief standard constructor */
PxVector3(void) {}
/** @brief copy constructor */
PxVector3(const PxVector3 &v) {
for (int i=0; i < 3; i++) {
m_vec[i] = v.m_vec[i];
}
}
/** @brief x,y,z constructor */
PxVector3(const float _x, const float _y, const float _z) {
m_vec[0] = _x;
m_vec[1] = _y;
m_vec[2] = _z;
}
/** @brief broadcast constructor */
PxVector3(const float _f) {
for (int i=0; i < 3; i++) {
m_vec[i] = _f;
}
}
private:
/** @brief private constructor (not used here, for SSE compatibility) */
PxVector3(const float (&_vec)[3]) {
for (int i=0; i < 3; i++) {
m_vec[i] = _vec[i];
}
}
public:
/** @brief assignment operator */
void operator= (const PxVector3 &r) {
for (int i=0; i < 3; i++) {
m_vec[i] = r.m_vec[i];
}
}
/** @brief const element access */
float operator[] (const int i) const {
return m_vec[i];
}
/** @brief element access */
float &operator[] (const int i) {
return m_vec[i];
}
// === arithmetic operators ===
/** @brief element-wise negation */
friend PxVector3 operator- (const PxVector3 &v) {
PxVector3 ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = -v.m_vec[i];
}
return ret;
}
friend PxVector3 operator+ (const PxVector3 &l, const PxVector3 &r) {
PxVector3 ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] + r.m_vec[i];
}
return ret;
}
friend PxVector3 operator- (const PxVector3 &l, const PxVector3 &r) {
PxVector3 ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] - r.m_vec[i];
}
return ret;
}
friend PxVector3 operator* (const PxVector3 &l, const PxVector3 &r) {
PxVector3 ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] * r.m_vec[i];
}
return ret;
}
friend PxVector3 operator/ (const PxVector3 &l, const PxVector3 &r) {
PxVector3 ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] / r.m_vec[i];
}
return ret;
}
friend void operator+= (PxVector3 &l, const PxVector3 &r) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] + r.m_vec[i];
}
}
friend void operator-= (PxVector3 &l, const PxVector3 &r) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] - r.m_vec[i];
}
}
friend void operator*= (PxVector3 &l, const PxVector3 &r) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] * r.m_vec[i];
}
}
friend void operator/= (PxVector3 &l, const PxVector3 &r) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] / r.m_vec[i];
}
}
friend PxVector3 operator+ (const PxVector3 &l, float f) {
PxVector3 ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] + f;
}
return ret;
}
friend PxVector3 operator- (const PxVector3 &l, float f) {
PxVector3 ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] - f;
}
return ret;
}
friend PxVector3 operator* (const PxVector3 &l, float f) {
PxVector3 ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] * f;
}
return ret;
}
friend PxVector3 operator/ (const PxVector3 &l, float f) {
PxVector3 ret;
float inv = 1.f/f;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] * inv;
}
return ret;
}
friend void operator+= (PxVector3 &l, float f) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] + f;
}
}
friend void operator-= (PxVector3 &l, float f) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] - f;
}
}
friend void operator*= (PxVector3 &l, float f) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] * f;
}
}
friend void operator/= (PxVector3 &l, float f) {
float inv = 1.f/f;
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] * inv;
}
}
// === vector operators ===
/** @brief dot product */
float dot(const PxVector3 &v) const {
return m_vec[0]*v.m_vec[0] + m_vec[1]*v.m_vec[1] + m_vec[2]*v.m_vec[2];
}
/** @brief length squared of the vector */
float lengthSquared(void) const {
return m_vec[0]*m_vec[0] + m_vec[1]*m_vec[1] + m_vec[2]*m_vec[2];
}
/** @brief length of the vector */
float length(void) const {
return sqrt(lengthSquared());
}
/** @brief cross product */
PxVector3 cross(const PxVector3 &v) const {
return PxVector3(m_vec[1]*v.m_vec[2] - m_vec[2]*v.m_vec[1], m_vec[2]*v.m_vec[0] - m_vec[0]*v.m_vec[2], m_vec[0]*v.m_vec[1] - m_vec[1]*v.m_vec[0]);
}
/** @brief normalizes the vector */
PxVector3 &normalize(void) {
const float l = 1.f / length();
for (int i=0; i < 3; i++) {
m_vec[i] *= l;
}
return *this;
}
friend class PxMatrix3x3;
protected:
float m_vec[3];
};
/**
* @brief Pixhawk 3D vector class in double precision, can be cast to a local OpenCV CvMat.
*
*/
class PxVector3Double
{
public:
/** @brief standard constructor */
PxVector3Double(void) {}
/** @brief copy constructor */
PxVector3Double(const PxVector3Double &v) {
for (int i=0; i < 3; i++) {
m_vec[i] = v.m_vec[i];
}
}
/** @brief x,y,z constructor */
PxVector3Double(const double _x, const double _y, const double _z) {
m_vec[0] = _x;
m_vec[1] = _y;
m_vec[2] = _z;
}
/** @brief broadcast constructor */
PxVector3Double(const double _f) {
for (int i=0; i < 3; i++) {
m_vec[i] = _f;
}
}
private:
/** @brief private constructor (not used here, for SSE compatibility) */
PxVector3Double(const double (&_vec)[3]) {
for (int i=0; i < 3; i++) {
m_vec[i] = _vec[i];
}
}
public:
/** @brief assignment operator */
void operator= (const PxVector3Double &r) {
for (int i=0; i < 3; i++) {
m_vec[i] = r.m_vec[i];
}
}
/** @brief const element access */
double operator[] (const int i) const {
return m_vec[i];
}
/** @brief element access */
double &operator[] (const int i) {
return m_vec[i];
}
// === arithmetic operators ===
/** @brief element-wise negation */
friend PxVector3Double operator- (const PxVector3Double &v) {
PxVector3Double ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = -v.m_vec[i];
}
return ret;
}
friend PxVector3Double operator+ (const PxVector3Double &l, const PxVector3Double &r) {
PxVector3Double ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] + r.m_vec[i];
}
return ret;
}
friend PxVector3Double operator- (const PxVector3Double &l, const PxVector3Double &r) {
PxVector3Double ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] - r.m_vec[i];
}
return ret;
}
friend PxVector3Double operator* (const PxVector3Double &l, const PxVector3Double &r) {
PxVector3Double ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] * r.m_vec[i];
}
return ret;
}
friend PxVector3Double operator/ (const PxVector3Double &l, const PxVector3Double &r) {
PxVector3Double ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] / r.m_vec[i];
}
return ret;
}
friend void operator+= (PxVector3Double &l, const PxVector3Double &r) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] + r.m_vec[i];
}
}
friend void operator-= (PxVector3Double &l, const PxVector3Double &r) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] - r.m_vec[i];
}
}
friend void operator*= (PxVector3Double &l, const PxVector3Double &r) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] * r.m_vec[i];
}
}
friend void operator/= (PxVector3Double &l, const PxVector3Double &r) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] / r.m_vec[i];
}
}
friend PxVector3Double operator+ (const PxVector3Double &l, double f) {
PxVector3Double ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] + f;
}
return ret;
}
friend PxVector3Double operator- (const PxVector3Double &l, double f) {
PxVector3Double ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] - f;
}
return ret;
}
friend PxVector3Double operator* (const PxVector3Double &l, double f) {
PxVector3Double ret;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] * f;
}
return ret;
}
friend PxVector3Double operator/ (const PxVector3Double &l, double f) {
PxVector3Double ret;
double inv = 1.f/f;
for (int i=0; i < 3; i++) {
ret.m_vec[i] = l.m_vec[i] * inv;
}
return ret;
}
friend void operator+= (PxVector3Double &l, double f) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] + f;
}
}
friend void operator-= (PxVector3Double &l, double f) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] - f;
}
}
friend void operator*= (PxVector3Double &l, double f) {
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] * f;
}
}
friend void operator/= (PxVector3Double &l, double f) {
double inv = 1.f/f;
for (int i=0; i < 3; i++) {
l.m_vec[i] = l.m_vec[i] * inv;
}
}
// === vector operators ===
/** @brief dot product */
double dot(const PxVector3Double &v) const {
return m_vec[0]*v.m_vec[0] + m_vec[1]*v.m_vec[1] + m_vec[2]*v.m_vec[2];
}
/** @brief length squared of the vector */
double lengthSquared(void) const {
return m_vec[0]*m_vec[0] + m_vec[1]*m_vec[1] + m_vec[2]*m_vec[2];
}
/** @brief length of the vector */
double length(void) const {
return sqrt(lengthSquared());
}
/** @brief cross product */
PxVector3Double cross(const PxVector3Double &v) const {
return PxVector3Double(m_vec[1]*v.m_vec[2] - m_vec[2]*v.m_vec[1], m_vec[2]*v.m_vec[0] - m_vec[0]*v.m_vec[2], m_vec[0]*v.m_vec[1] - m_vec[1]*v.m_vec[0]);
}
/** @brief normalizes the vector */
PxVector3Double &normalize(void) {
const double l = 1.f / length();
for (int i=0; i < 3; i++) {
m_vec[i] *= l;
}
return *this;
}
friend class PxMatrix3x3;
protected:
double m_vec[3];
};
MAVLinkSimulationWaypointPlanner::MAVLinkSimulationWaypointPlanner(MAVLinkSimulationLink *parent, int sysid) :
QObject(parent),
link(parent),
idle(false),
current_active_wp_id(-1),
timestamp_lastoutside_orbit(0),
timestamp_firstinside_orbit(0),
waypoints(&waypoints1),
waypoints_receive_buffer(&waypoints2),
current_state(PX_WPP_IDLE),
protocol_current_wp_id(0),
protocol_current_count(0),
protocol_current_partner_systemid(0),
protocol_current_partner_compid(0),
protocol_timestamp_lastaction(0),
protocol_timeout(1000),
timestamp_last_send_setpoint(0),
systemid(sysid),
compid(MAV_COMP_ID_MISSIONPLANNER),
setpointDelay(10),
yawTolerance(0.4f),
verbose(true),
debug(false),
silent(false)
{
connect(parent, SIGNAL(messageReceived(mavlink_message_t)), this, SLOT(handleMessage(mavlink_message_t)));
qDebug() << "PLANNER FOR SYSTEM" << systemid << "INITIALIZED";
}
/*
* @brief Sends an waypoint ack message
*/
void MAVLinkSimulationWaypointPlanner::send_waypoint_ack(uint8_t target_systemid, uint8_t target_compid, uint8_t type)
{
mavlink_message_t msg;
mavlink_mission_ack_t wpa;
wpa.target_system = target_systemid;
wpa.target_component = target_compid;
wpa.type = type;
mavlink_msg_mission_ack_encode(systemid, compid, &msg, &wpa);
link->sendMAVLinkMessage(&msg);
if (verbose) qDebug("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system);
}
/*
* @brief Broadcasts the new target waypoint and directs the MAV to fly there
*
* This function broadcasts its new active waypoint sequence number and
* sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void MAVLinkSimulationWaypointPlanner::send_waypoint_current(uint16_t seq)
{
if(seq < waypoints->size()) {
mavlink_mission_item_t *cur = waypoints->at(seq);
mavlink_message_t msg;
mavlink_mission_current_t wpc;
wpc.seq = cur->seq;
mavlink_msg_mission_current_encode(systemid, compid, &msg, &wpc);
link->sendMAVLinkMessage(&msg);
if (verbose) qDebug("Broadcasted new current waypoint %u\n", wpc.seq);
}
}
/*
* @brief Directs the MAV to fly to a position
*
* Sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq)
{
if(seq < waypoints->size()) {
mavlink_mission_item_t *cur = waypoints->at(seq);
mavlink_message_t msg;
mavlink_set_local_position_setpoint_t PControlSetPoint;
// send new set point to local IMU
if (cur->frame == 1) {
PControlSetPoint.target_system = systemid;
PControlSetPoint.target_component = MAV_COMP_ID_IMU;
PControlSetPoint.x = cur->x;
PControlSetPoint.y = cur->y;
PControlSetPoint.z = cur->z;
PControlSetPoint.yaw = cur->param4;
mavlink_msg_set_local_position_setpoint_encode(systemid, compid, &msg, &PControlSetPoint);
link->sendMAVLinkMessage(&msg);
} else {
//if (verbose) qDebug("No new set point sent to IMU because the new waypoint %u had no local coordinates\n", cur->seq);
PControlSetPoint.target_system = systemid;
PControlSetPoint.target_component = MAV_COMP_ID_IMU;
PControlSetPoint.x = cur->x;
PControlSetPoint.y = cur->y;
PControlSetPoint.z = cur->z;
PControlSetPoint.yaw = cur->param4;
mavlink_msg_set_local_position_setpoint_encode(systemid, compid, &msg, &PControlSetPoint);
link->sendMAVLinkMessage(&msg);
emit messageSent(msg);
}
uint64_t now = QGC::groundTimeMilliseconds();
timestamp_last_send_setpoint = now;
}
}
void MAVLinkSimulationWaypointPlanner::send_waypoint_count(uint8_t target_systemid, uint8_t target_compid, uint16_t count)
{
mavlink_message_t msg;
mavlink_mission_count_t wpc;
wpc.target_system = target_systemid;
wpc.target_component = target_compid;
wpc.count = count;
mavlink_msg_mission_count_encode(systemid, compid, &msg, &wpc);
link->sendMAVLinkMessage(&msg);
if (verbose) qDebug("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system);
}
void MAVLinkSimulationWaypointPlanner::send_waypoint(uint8_t target_systemid, uint8_t target_compid, uint16_t seq)
{
if (seq < waypoints->size()) {
mavlink_message_t msg;
mavlink_mission_item_t *wp = waypoints->at(seq);
wp->target_system = target_systemid;
wp->target_component = target_compid;
if (verbose) qDebug("Sent waypoint %u (%u / %u / %u / %u / %u / %f / %f / %f / %u / %f / %f / %f / %f / %u)\n", wp->seq, wp->target_system, wp->target_component, wp->seq, wp->frame, wp->command, wp->param3, wp->param1, wp->param2, wp->current, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue);
mavlink_msg_mission_item_encode(systemid, compid, &msg, wp);
link->sendMAVLinkMessage(&msg);
if (verbose) qDebug("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system);
} else {
if (verbose) qDebug("ERROR: index out of bounds\n");
}
}
void MAVLinkSimulationWaypointPlanner::send_waypoint_request(uint8_t target_systemid, uint8_t target_compid, uint16_t seq)
{
mavlink_message_t msg;
mavlink_mission_request_t wpr;
wpr.target_system = target_systemid;
wpr.target_component = target_compid;
wpr.seq = seq;
mavlink_msg_mission_request_encode(systemid, compid, &msg, &wpr);
link->sendMAVLinkMessage(&msg);
if (verbose) qDebug("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system);
}
/*
* @brief emits a message that a waypoint reached
*
* This function broadcasts a message that a waypoint is reached.
*
* @param seq The waypoint sequence number the MAV has reached.
*/
void MAVLinkSimulationWaypointPlanner::send_waypoint_reached(uint16_t seq)
{
mavlink_message_t msg;
mavlink_mission_item_reached_t wp_reached;
wp_reached.seq = seq;
mavlink_msg_mission_item_reached_encode(systemid, compid, &msg, &wp_reached);
link->sendMAVLinkMessage(&msg);
if (verbose) qDebug("Sent waypoint %u reached message\n", wp_reached.seq);
}
float MAVLinkSimulationWaypointPlanner::distanceToSegment(uint16_t seq, float x, float y, float z)
{
if (seq < waypoints->size()) {
mavlink_mission_item_t *cur = waypoints->at(seq);
const PxVector3 A(cur->x, cur->y, cur->z);
const PxVector3 C(x, y, z);
// seq not the second last waypoint
if ((uint16_t)(seq+1) < waypoints->size()) {
mavlink_mission_item_t *next = waypoints->at(seq+1);
const PxVector3 B(next->x, next->y, next->z);
const float r = (B-A).dot(C-A) / (B-A).lengthSquared();
if (r >= 0 && r <= 1) {
const PxVector3 P(A + r*(B-A));
return (P-C).length();
} else if (r < 0.f) {
return (C-A).length();
} else {
return (C-B).length();
}
} else {
return (C-A).length();
}
}
return -1.f;
}
float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, float y, float z)
{
if (seq < waypoints->size()) {
mavlink_mission_item_t *cur = waypoints->at(seq);
const PxVector3 A(cur->x, cur->y, cur->z);
const PxVector3 C(x, y, z);
return (C-A).length();
}
return -1.f;
}
float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, float y)
{
if (seq < waypoints->size()) {
mavlink_mission_item_t *cur = waypoints->at(seq);
const PxVector3 A(cur->x, cur->y, 0);
const PxVector3 C(x, y, 0);
return (C-A).length();
}
return -1.f;
}
void MAVLinkSimulationWaypointPlanner::handleMessage(const mavlink_message_t& msg)
{
mavlink_handler(&msg);
}
void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* msg)
{
// Handle param messages
// paramClient->handleMAVLinkPacket(msg);
//check for timed-out operations
//qDebug() << "MAV: %d WAYPOINTPLANNER GOT MESSAGE" << systemid;
uint64_t now = QGC::groundTimeMilliseconds();
if (now-protocol_timestamp_lastaction > protocol_timeout && current_state != PX_WPP_IDLE) {
if (verbose) qDebug() << "Last operation (state=%u) timed out, changing state to PX_WPP_IDLE" << current_state;
current_state = PX_WPP_IDLE;
protocol_current_count = 0;
protocol_current_partner_systemid = 0;
protocol_current_partner_compid = 0;
protocol_current_wp_id = -1;
if(waypoints->size() == 0) {
current_active_wp_id = -1;
}
}
if(now-timestamp_last_send_setpoint > setpointDelay) {
send_setpoint(current_active_wp_id);
}
switch(msg->msgid) {
case MAVLINK_MSG_ID_ATTITUDE: {
if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) {
mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id);
if(wp->frame == 1) {
mavlink_attitude_t att;
mavlink_msg_attitude_decode(msg, &att);
float yaw_tolerance = yawTolerance;
//compare current yaw
if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*M_PI) {
if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4)
yawReached = true;
} else if(att.yaw - yaw_tolerance < 0.0f) {
float lowerBound = 360.0f + att.yaw - yaw_tolerance;
if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance)
yawReached = true;
} else {
float upperBound = att.yaw + yaw_tolerance - 2.f*M_PI;
if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound)
yawReached = true;
}
// FIXME HACK: Ignore yaw:
yawReached = true;
}
}
break;
}
case MAVLINK_MSG_ID_LOCAL_POSITION_NED: {
if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) {
mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id);
if(wp->frame == 1) {
mavlink_local_position_ned_t pos;
mavlink_msg_local_position_ned_decode(msg, &pos);
//qDebug() << "Received new position: x:" << pos.x << "| y:" << pos.y << "| z:" << pos.z;
posReached = false;
// compare current position (given in message) with current waypoint
float orbit = wp->param1;
float dist;
if (wp->param2 == 0) {
dist = distanceToSegment(current_active_wp_id, pos.x, pos.y, pos.z);
} else {
dist = distanceToPoint(current_active_wp_id, pos.x, pos.y, pos.z);
}
if (dist >= 0.f && dist <= orbit && yawReached) {
posReached = true;
}
}
}
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: {
if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) {
mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id);
if(wp->frame == 0) {
mavlink_global_position_int_t pos;
mavlink_msg_global_position_int_decode(msg, &pos);
float x = static_cast<double>(pos.lat)/1E7;
float y = static_cast<double>(pos.lon)/1E7;
//float z = static_cast<double>(pos.alt)/1000;
//qDebug() << "Received new position: x:" << x << "| y:" << y << "| z:" << z;
posReached = false;
yawReached = true;
// FIXME big hack for simulation!
//float oneDegreeOfLatMeters = 111131.745f;
float orbit = 0.00008f;
// compare current position (given in message) with current waypoint
//float orbit = wp->param1;
// Convert to degrees
float dist;
dist = distanceToPoint(current_active_wp_id, x, y);
if (dist >= 0.f && dist <= orbit && yawReached) {
posReached = true;
qDebug() << "WP PLANNER: REACHED POSITION";
}
}
}
break;
}
case MAVLINK_MSG_ID_COMMAND_LONG:
{ // special action from ground station
mavlink_command_long_t action;
mavlink_msg_command_long_decode(msg, &action);
if(action.target_system == systemid) {
if (verbose) qDebug("Waypoint: received message with action %d\n", action.command);
// switch (action.action) {
// case MAV_ACTION_LAUNCH:
// if (verbose) std::cerr << "Launch received" << std::endl;
// current_active_wp_id = 0;
// if (waypoints->size()>0)
// {
// setActive(waypoints[current_active_wp_id]);
// }
// else
// if (verbose) std::cerr << "No launch, waypointList empty" << std::endl;
// break;
// case MAV_ACTION_CONTINUE:
// if (verbose) std::c
// err << "Continue received" << std::endl;
// idle = false;
// setActive(waypoints[current_active_wp_id]);
// break;
// case MAV_ACTION_HALT:
// if (verbose) std::cerr << "Halt received" << std::endl;
// idle = true;
// break;
// default:
// if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl;
// break;
// }
}
break;
}
case MAVLINK_MSG_ID_MISSION_ACK: {
mavlink_mission_ack_t wpa;
mavlink_msg_mission_ack_decode(msg, &wpa);
if((msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && (wpa.target_system == systemid && wpa.target_component == compid)) {
protocol_timestamp_lastaction = now;
if (current_state == PX_WPP_SENDLIST || current_state == PX_WPP_SENDLIST_SENDWPS) {
if (protocol_current_wp_id == waypoints->size()-1) {
if (verbose) qDebug("Received Ack after having sent last waypoint, going to state PX_WPP_IDLE\n");
current_state = PX_WPP_IDLE;
protocol_current_wp_id = 0;
}
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: {
mavlink_mission_set_current_t wpc;
mavlink_msg_mission_set_current_decode(msg, &wpc);
if(wpc.target_system == systemid && wpc.target_component == compid) {
protocol_timestamp_lastaction = now;
if (current_state == PX_WPP_IDLE) {
if (wpc.seq < waypoints->size()) {
if (verbose) qDebug("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n");
current_active_wp_id = wpc.seq;
uint32_t i;
for(i = 0; i < waypoints->size(); i++) {
if (i == current_active_wp_id) {
waypoints->at(i)->current = true;
} else {
waypoints->at(i)->current = false;
}
}
if (verbose) qDebug("New current waypoint %u\n", current_active_wp_id);
yawReached = false;
posReached = false;
send_waypoint_current(current_active_wp_id);
send_setpoint(current_active_wp_id);
timestamp_firstinside_orbit = 0;
} else {
if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n");
}
}
} else {
qDebug() << "SYSTEM / COMPONENT ID MISMATCH: target sys:" << wpc.target_system << "this system:" << systemid << "target comp:" << wpc.target_component << "this comp:" << compid;
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: {
mavlink_mission_request_list_t wprl;
mavlink_msg_mission_request_list_decode(msg, &wprl);
if(wprl.target_system == systemid && wprl.target_component == compid) {
protocol_timestamp_lastaction = now;
if (current_state == PX_WPP_IDLE || current_state == PX_WPP_SENDLIST) {
if (waypoints->size() > 0) {
if (verbose && current_state == PX_WPP_IDLE) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to PX_WPP_SENDLIST\n", msg->sysid);
if (verbose && current_state == PX_WPP_SENDLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state PX_WPP_SENDLIST\n", msg->sysid);
current_state = PX_WPP_SENDLIST;
protocol_current_wp_id = 0;
protocol_current_partner_systemid = msg->sysid;
protocol_current_partner_compid = msg->compid;
} else {
if (verbose) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid);
}
protocol_current_count = waypoints->size();
send_waypoint_count(msg->sysid,msg->compid, protocol_current_count);
} else {
if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", current_state);
}
} else {
if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because not my systemid or compid.\n");
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST: {
mavlink_mission_request_t wpr;
mavlink_msg_mission_request_decode(msg, &wpr);
if(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid && wpr.target_system == systemid && wpr.target_component == compid) {
protocol_timestamp_lastaction = now;
//ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint)
if ((current_state == PX_WPP_SENDLIST && wpr.seq == 0) || (current_state == PX_WPP_SENDLIST_SENDWPS && (wpr.seq == protocol_current_wp_id || wpr.seq == protocol_current_wp_id + 1) && wpr.seq < waypoints->size())) {
if (verbose && current_state == PX_WPP_SENDLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
if (verbose && current_state == PX_WPP_SENDLIST_SENDWPS && wpr.seq == protocol_current_wp_id + 1) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
if (verbose && current_state == PX_WPP_SENDLIST_SENDWPS && wpr.seq == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
current_state = PX_WPP_SENDLIST_SENDWPS;
protocol_current_wp_id = wpr.seq;
send_waypoint(protocol_current_partner_systemid, protocol_current_partner_compid, wpr.seq);
} else {
if (verbose) {
if (!(current_state == PX_WPP_SENDLIST || current_state == PX_WPP_SENDLIST_SENDWPS)) {
qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", current_state);
break;
} else if (current_state == PX_WPP_SENDLIST) {
if (wpr.seq != 0) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq);
} else if (current_state == PX_WPP_SENDLIST_SENDWPS) {
if (wpr.seq != protocol_current_wp_id && wpr.seq != protocol_current_wp_id + 1) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, protocol_current_wp_id, protocol_current_wp_id+1);
else if (wpr.seq >= waypoints->size()) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq);
} else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n");
}
}
} else {
//we we're target but already communicating with someone else
if((wpr.target_system == systemid && wpr.target_component == compid) && !(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid)) {
if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, protocol_current_partner_systemid);
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT: {
mavlink_mission_count_t wpc;
mavlink_msg_mission_count_decode(msg, &wpc);
if(wpc.target_system == systemid && wpc.target_component == compid) {
protocol_timestamp_lastaction = now;
if (current_state == PX_WPP_IDLE || (current_state == PX_WPP_GETLIST && protocol_current_wp_id == 0)) {
if (wpc.count > 0) {
if (verbose && current_state == PX_WPP_IDLE) qDebug("Got MAVLINK_MSG_ID_MISSION_COUNT (%u) from %u changing state to PX_WPP_GETLIST\n", wpc.count, msg->sysid);
if (verbose && current_state == PX_WPP_GETLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_COUNT (%u) again from %u\n", wpc.count, msg->sysid);
current_state = PX_WPP_GETLIST;
protocol_current_wp_id = 0;
protocol_current_partner_systemid = msg->sysid;
protocol_current_partner_compid = msg->compid;
protocol_current_count = wpc.count;
qDebug("clearing receive buffer and readying for receiving waypoints\n");
while(waypoints_receive_buffer->size() > 0) {
delete waypoints_receive_buffer->back();
waypoints_receive_buffer->pop_back();
}
send_waypoint_request(protocol_current_partner_systemid, protocol_current_partner_compid, protocol_current_wp_id);
} else {
if (verbose) qDebug("Ignoring MAVLINK_MSG_ID_MISSION_COUNT from %u with count of %u\n", msg->sysid, wpc.count);
}
} else {
if (verbose && !(current_state == PX_WPP_IDLE || current_state == PX_WPP_GETLIST)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT because i'm doing something else already (state=%i).\n", current_state);
else if (verbose && current_state == PX_WPP_GETLIST && protocol_current_wp_id != 0) qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT because i'm already receiving waypoint %u.\n", protocol_current_wp_id);
else qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT - FIXME: missed error description\n");
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_ITEM: {
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
if((msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && (wp.target_system == systemid && wp.target_component == compid)) {
protocol_timestamp_lastaction = now;
//ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids
if ((current_state == PX_WPP_GETLIST && wp.seq == 0) || (current_state == PX_WPP_GETLIST_GETWPS && wp.seq == protocol_current_wp_id && wp.seq < protocol_current_count)) {
if (verbose && current_state == PX_WPP_GETLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to PX_WPP_GETLIST_GETWPS\n", wp.seq, msg->sysid);
if (verbose && current_state == PX_WPP_GETLIST_GETWPS && wp.seq == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid);
if (verbose && current_state == PX_WPP_GETLIST_GETWPS && wp.seq-1 == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid);
current_state = PX_WPP_GETLIST_GETWPS;
protocol_current_wp_id = wp.seq + 1;
mavlink_mission_item_t* newwp = new mavlink_mission_item_t;
memcpy(newwp, &wp, sizeof(mavlink_mission_item_t));
waypoints_receive_buffer->push_back(newwp);
if(protocol_current_wp_id == protocol_current_count && current_state == PX_WPP_GETLIST_GETWPS) {
if (verbose) qDebug("Got all %u waypoints, changing state to PX_WPP_IDLE\n", protocol_current_count);
send_waypoint_ack(protocol_current_partner_systemid, protocol_current_partner_compid, 0);
if (current_active_wp_id > waypoints_receive_buffer->size()-1) {
current_active_wp_id = waypoints_receive_buffer->size() - 1;
}
// switch the waypoints list
std::vector<mavlink_mission_item_t*>* waypoints_temp = waypoints;
waypoints = waypoints_receive_buffer;
waypoints_receive_buffer = waypoints_temp;
//get the new current waypoint
uint32_t i;
for(i = 0; i < waypoints->size(); i++) {
if (waypoints->at(i)->current == 1) {
current_active_wp_id = i;
//if (verbose) qDebug("New current waypoint %u\n", current_active_wp_id);
yawReached = false;
posReached = false;
send_waypoint_current(current_active_wp_id);
send_setpoint(current_active_wp_id);
timestamp_firstinside_orbit = 0;
break;
}
}
if (i == waypoints->size()) {
current_active_wp_id = -1;
yawReached = false;
posReached = false;
timestamp_firstinside_orbit = 0;
}
current_state = PX_WPP_IDLE;
} else {
send_waypoint_request(protocol_current_partner_systemid, protocol_current_partner_compid, protocol_current_wp_id);
}
} else {
if (current_state == PX_WPP_IDLE) {
//we're done receiving waypoints, answer with ack.
send_waypoint_ack(protocol_current_partner_systemid, protocol_current_partner_compid, 0);
qDebug("Received MAVLINK_MSG_ID_MISSION_ITEM while state=PX_WPP_IDLE, answered with WAYPOINT_ACK.\n");
}
if (verbose) {
if (!(current_state == PX_WPP_GETLIST || current_state == PX_WPP_GETLIST_GETWPS)) {
qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, current_state);
break;
} else if (current_state == PX_WPP_GETLIST) {
if(!(wp.seq == 0)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq);
else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
} else if (current_state == PX_WPP_GETLIST_GETWPS) {
if (!(wp.seq == protocol_current_wp_id)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, protocol_current_wp_id);
else if (!(wp.seq < protocol_current_count)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq);
else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
} else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
}
}
} else {
// We're target but already communicating with someone else
if((wp.target_system == systemid && wp.target_component == compid) && !(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && current_state != PX_WPP_IDLE) {
if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, protocol_current_partner_systemid);
} else if(wp.target_system == systemid && wp.target_component == compid) {
if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid);
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: {
mavlink_mission_clear_all_t wpca;
mavlink_msg_mission_clear_all_decode(msg, &wpca);
if(wpca.target_system == systemid && wpca.target_component == compid && current_state == PX_WPP_IDLE) {
protocol_timestamp_lastaction = now;
if (verbose) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid);
while(waypoints->size() > 0) {
delete waypoints->back();
waypoints->pop_back();
}
current_active_wp_id = -1;
} else if (wpca.target_system == systemid && wpca.target_component == compid && current_state != PX_WPP_IDLE) {
if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, current_state);
}
break;
}
default: {
if (debug) qDebug("Waypoint: received message of unknown type\n");
break;
}
}
//check if the current waypoint was reached
if ((posReached && /*yawReached &&*/ !idle)) {
if (current_active_wp_id < waypoints->size()) {
mavlink_mission_item_t *cur_wp = waypoints->at(current_active_wp_id);
if (timestamp_firstinside_orbit == 0) {
// Announce that last waypoint was reached
if (verbose) qDebug("*** Reached waypoint %u ***\n", cur_wp->seq);
send_waypoint_reached(cur_wp->seq);
timestamp_firstinside_orbit = now;
}
// check if the MAV was long enough inside the waypoint orbit
//if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000))
if(now-timestamp_firstinside_orbit >= cur_wp->param2*1000) {
if (cur_wp->autocontinue) {
cur_wp->current = 0;
if (current_active_wp_id == waypoints->size() - 1 && waypoints->size() > 0) {
//the last waypoint was reached, if auto continue is
//activated restart the waypoint list from the beginning
current_active_wp_id = 0;
} else {
current_active_wp_id++;
}
// Fly to next waypoint
timestamp_firstinside_orbit = 0;
send_waypoint_current(current_active_wp_id);
send_setpoint(current_active_wp_id);
waypoints->at(current_active_wp_id)->current = true;
posReached = false;
//yawReached = false;
if (verbose) qDebug("Set new waypoint (%u)\n", current_active_wp_id);
}
}
}
} else {
timestamp_lastoutside_orbit = now;
}
}