command.cpp

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/*
 * Copyright 2014,2016 Vladimir Ermakov.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#include <chrono>
#include <condition_variable>
#include <mavros/mavros_plugin.h>

#include <mavros_msgs/CommandLong.h>
#include <mavros_msgs/CommandInt.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/CommandHome.h>
#include <mavros_msgs/CommandTOL.h>
#include <mavros_msgs/CommandTriggerControl.h>
#include <mavros_msgs/CommandTriggerInterval.h>
#include <mavros_msgs/CommandVtolTransition.h>

namespace mavros {
namespace std_plugins {
static constexpr double ACK_TIMEOUT_DEFAULT = 5.0;
using utils::enum_value;
using lock_guard = std::lock_guard<std::mutex>;
using unique_lock = std::unique_lock<std::mutex>;

class CommandTransaction {
public:
        std::mutex cond_mutex;
        std::condition_variable ack;
        uint16_t expected_command;
        uint8_t result;

        explicit CommandTransaction(uint16_t command) :
                ack(),
                expected_command(command),
                // Default result if wait ack timeout
                result(enum_value(mavlink::common::MAV_RESULT::FAILED))
        { }
};

class CommandPlugin : public plugin::PluginBase {
public:
        CommandPlugin() : PluginBase(),
                cmd_nh("~cmd"),
                use_comp_id_system_control(false)
        { }

        void initialize(UAS &uas_) override
        {
                PluginBase::initialize(uas_);

                double command_ack_timeout;

                cmd_nh.param("command_ack_timeout", command_ack_timeout, ACK_TIMEOUT_DEFAULT);
                cmd_nh.param("use_comp_id_system_control", use_comp_id_system_control, false);

                command_ack_timeout_dt = ros::Duration(command_ack_timeout);

                command_long_srv = cmd_nh.advertiseService("command", &CommandPlugin::command_long_cb, this);
                command_int_srv = cmd_nh.advertiseService("command_int", &CommandPlugin::command_int_cb, this);
                arming_srv = cmd_nh.advertiseService("arming", &CommandPlugin::arming_cb, this);
                set_home_srv = cmd_nh.advertiseService("set_home", &CommandPlugin::set_home_cb, this);
                takeoff_srv = cmd_nh.advertiseService("takeoff", &CommandPlugin::takeoff_cb, this);
                land_srv = cmd_nh.advertiseService("land", &CommandPlugin::land_cb, this);
                trigger_control_srv = cmd_nh.advertiseService("trigger_control", &CommandPlugin::trigger_control_cb, this);
                trigger_interval_srv = cmd_nh.advertiseService("trigger_interval", &CommandPlugin::trigger_interval_cb, this);
                vtol_transition_srv = cmd_nh.advertiseService("vtol_transition", &CommandPlugin::vtol_transition_cb, this);
        }

        Subscriptions get_subscriptions() override
        {
                return {
                               make_handler(&CommandPlugin::handle_command_ack)
                };
        }

private:
        using L_CommandTransaction = std::list<CommandTransaction>;

        std::mutex mutex;

        ros::NodeHandle cmd_nh;
        ros::ServiceServer command_long_srv;
        ros::ServiceServer command_int_srv;
        ros::ServiceServer arming_srv;
        ros::ServiceServer set_home_srv;
        ros::ServiceServer takeoff_srv;
        ros::ServiceServer land_srv;
        ros::ServiceServer trigger_control_srv;
        ros::ServiceServer trigger_interval_srv;
        ros::ServiceServer vtol_transition_srv;

        bool use_comp_id_system_control;

        L_CommandTransaction ack_waiting_list;
        ros::Duration command_ack_timeout_dt;

        /* -*- message handlers -*- */

        void handle_command_ack(const mavlink::mavlink_message_t *msg, mavlink::common::msg::COMMAND_ACK &ack)
        {
                lock_guard lock(mutex);

                // XXX(vooon): place here source ids check

                for (auto &tr : ack_waiting_list) {
                        if (tr.expected_command == ack.command) {
                                tr.result = ack.result;
                                tr.ack.notify_all();
                                return;
                        }
                }

                ROS_WARN_THROTTLE_NAMED(10, "cmd", "CMD: Unexpected command %u, result %u",
                        ack.command, ack.result);
        }

        /* -*- mid-level functions -*- */

        bool wait_ack_for(CommandTransaction &tr) {
                unique_lock lock(tr.cond_mutex);
                if (tr.ack.wait_for(lock, std::chrono::nanoseconds(command_ack_timeout_dt.toNSec())) == std::cv_status::timeout) {
                        ROS_WARN_NAMED("cmd", "CMD: Command %u -- wait ack timeout", tr.expected_command);
                        return false;
                } else {
                        return true;
                }
        }

        bool send_command_long_and_wait(bool broadcast,
                uint16_t command, uint8_t confirmation,
                float param1, float param2,
                float param3, float param4,
                float param5, float param6,
                float param7,
                unsigned char &success, uint8_t &result)
        {
                using mavlink::common::MAV_RESULT;

                unique_lock lock(mutex);

                L_CommandTransaction::iterator ack_it;

                /* check transactions */
                for (const auto &tr : ack_waiting_list) {
                        if (tr.expected_command == command) {
                                ROS_WARN_THROTTLE_NAMED(10, "cmd", "CMD: Command %u already in progress", command);
                                return false;
                        }
                }

                bool is_ack_required = (confirmation != 0 || m_uas->is_ardupilotmega() || m_uas->is_px4()) && !broadcast;
                if (is_ack_required)
                        ack_it = ack_waiting_list.emplace(ack_waiting_list.end(), command);

                command_long(broadcast,
                        command, confirmation,
                        param1, param2,
                        param3, param4,
                        param5, param6,
                        param7);

                if (is_ack_required) {
                        lock.unlock();
                        bool is_not_timeout = wait_ack_for(*ack_it);
                        lock.lock();

                        success = is_not_timeout && ack_it->result == enum_value(MAV_RESULT::ACCEPTED);
                        result = ack_it->result;

                        ack_waiting_list.erase(ack_it);
                }
                else {
                        success = true;
                        result = enum_value(MAV_RESULT::ACCEPTED);
                }

                return true;
        }

        bool send_command_int(bool broadcast,
                uint8_t frame, uint16_t command,
                uint8_t current, uint8_t autocontinue,
                float param1, float param2,
                float param3, float param4,
                int32_t x, int32_t y,
                float z,
                unsigned char &success)
        {
                /* Note: seems that COMMAND_INT don't produce COMMAND_ACK
                 * so wait don't needed.
                 */
                command_int(broadcast,
                        frame, command, current, autocontinue,
                        param1, param2,
                        param3, param4,
                        x, y, z);

                success = true;
                return true;
        }

        /* -*- low-level send -*- */

        template<typename MsgT>
        inline void set_target(MsgT &cmd, bool broadcast)
        {
                using mavlink::minimal::MAV_COMPONENT;

                const uint8_t tgt_sys_id = (broadcast) ? 0 : m_uas->get_tgt_system();
                const uint8_t tgt_comp_id = (broadcast) ? 0 :
                        (use_comp_id_system_control) ?
                        enum_value(MAV_COMPONENT::COMP_ID_SYSTEM_CONTROL) : m_uas->get_tgt_component();

                cmd.target_system = tgt_sys_id;
                cmd.target_component = tgt_comp_id;
        }

        void command_long(bool broadcast,
                uint16_t command, uint8_t confirmation,
                float param1, float param2,
                float param3, float param4,
                float param5, float param6,
                float param7)
        {
                const uint8_t confirmation_fixed = (broadcast) ? 0 : confirmation;

                mavlink::common::msg::COMMAND_LONG cmd {};
                set_target(cmd, broadcast);

                cmd.command = command;
                cmd.confirmation = confirmation_fixed;
                cmd.param1 = param1;
                cmd.param2 = param2;
                cmd.param3 = param3;
                cmd.param4 = param4;
                cmd.param5 = param5;
                cmd.param6 = param6;
                cmd.param7 = param7;

                UAS_FCU(m_uas)->send_message_ignore_drop(cmd);
        }

        void command_int(bool broadcast,
                uint8_t frame, uint16_t command,
                uint8_t current, uint8_t autocontinue,
                float param1, float param2,
                float param3, float param4,
                int32_t x, int32_t y,
                float z)
        {
                mavlink::common::msg::COMMAND_INT cmd {};
                set_target(cmd, broadcast);

                cmd.frame = frame;
                cmd.command = command;
                cmd.current = current;
                cmd.autocontinue = autocontinue;
                cmd.param1 = param1;
                cmd.param2 = param2;
                cmd.param3 = param3;
                cmd.param4 = param4;
                cmd.x = x;
                cmd.y = y;
                cmd.z = z;

                UAS_FCU(m_uas)->send_message_ignore_drop(cmd);
        }

        /* -*- callbacks -*- */

        bool command_long_cb(mavros_msgs::CommandLong::Request &req,
                mavros_msgs::CommandLong::Response &res)
        {
                return send_command_long_and_wait(req.broadcast,
                        req.command, req.confirmation,
                        req.param1, req.param2,
                        req.param3, req.param4,
                        req.param5, req.param6,
                        req.param7,
                        res.success, res.result);
        }

        bool command_int_cb(mavros_msgs::CommandInt::Request &req,
                mavros_msgs::CommandInt::Response &res)
        {
                return send_command_int(req.broadcast,
                        req.frame, req.command,
                        req.current, req.autocontinue,
                        req.param1, req.param2,
                        req.param3, req.param4,
                        req.x, req.y, req.z,
                        res.success);
        }

        bool arming_cb(mavros_msgs::CommandBool::Request &req,
                mavros_msgs::CommandBool::Response &res)
        {
                using mavlink::common::MAV_CMD;
                return send_command_long_and_wait(false,
                        enum_value(MAV_CMD::COMPONENT_ARM_DISARM), 1,
                        (req.value) ? 1.0 : 0.0,
                        0, 0, 0, 0, 0, 0,
                        res.success, res.result);
        }

        bool set_home_cb(mavros_msgs::CommandHome::Request &req,
                mavros_msgs::CommandHome::Response &res)
        {
                using mavlink::common::MAV_CMD;
                return send_command_long_and_wait(false,
                        enum_value(MAV_CMD::DO_SET_HOME), 1,
                        (req.current_gps) ? 1.0 : 0.0,
                        0, 0, req.yaw, req.latitude, req.longitude, req.altitude,
                        res.success, res.result);
        }

        bool takeoff_cb(mavros_msgs::CommandTOL::Request &req,
                mavros_msgs::CommandTOL::Response &res)
        {
                using mavlink::common::MAV_CMD;
                return send_command_long_and_wait(false,
                        enum_value(MAV_CMD::NAV_TAKEOFF), 1,
                        req.min_pitch,
                        0, 0,
                        req.yaw,
                        req.latitude, req.longitude, req.altitude,
                        res.success, res.result);
        }

        bool land_cb(mavros_msgs::CommandTOL::Request &req,
                mavros_msgs::CommandTOL::Response &res)
        {
                using mavlink::common::MAV_CMD;
                return send_command_long_and_wait(false,
                        enum_value(MAV_CMD::NAV_LAND), 1,
                        0, 0, 0,
                        req.yaw,
                        req.latitude, req.longitude, req.altitude,
                        res.success, res.result);
        }

        bool trigger_control_cb(mavros_msgs::CommandTriggerControl::Request &req,
                mavros_msgs::CommandTriggerControl::Response &res)
        {
                using mavlink::common::MAV_CMD;
                return send_command_long_and_wait(false,
                        enum_value(MAV_CMD::DO_TRIGGER_CONTROL), 1,
                        (req.trigger_enable) ? 1.0 : 0.0,
                        (req.sequence_reset) ? 1.0 : 0.0,
                        (req.trigger_pause) ? 1.0 : 0.0,
                        0, 0, 0, 0,
                        res.success, res.result);
        }

        bool trigger_interval_cb(mavros_msgs::CommandTriggerInterval::Request &req,
                mavros_msgs::CommandTriggerInterval::Response &res)
        {
                using mavlink::common::MAV_CMD;

                // trigger interval can only be set when triggering is disabled
                return send_command_long_and_wait(false,
                        enum_value(MAV_CMD::DO_SET_CAM_TRIGG_INTERVAL), 1,
                        req.cycle_time,
                        req.integration_time,
                        0, 0, 0, 0, 0,
                        res.success, res.result);
        }

        bool vtol_transition_cb(mavros_msgs::CommandVtolTransition::Request &req,
                        mavros_msgs::CommandVtolTransition::Response &res)
        {
                using mavlink::common::MAV_CMD;
                return send_command_long_and_wait(false,
                        enum_value(MAV_CMD::DO_VTOL_TRANSITION), false,
                        req.state,
                        0, 0, 0, 0, 0, 0,
                        res.success, res.result);
        }
};
}       // namespace std_plugins
}       // namespace mavros

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(mavros::std_plugins::CommandPlugin, mavros::plugin::PluginBase)