uas_stringify.cpp

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/*
 * Copyright 2014 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 <array>
#include <unordered_map>
#include <stdexcept>
#include <mavros/mavros_uas.h>
#include <mavros/px4_custom_mode.h>

using namespace mavros;
using mavros::utils::enum_value;


/* -*- mode stringify functions -*- */

typedef std::unordered_map<uint32_t, const std::string> cmode_map;

static const cmode_map arduplane_cmode_map{{
        { 0, "MANUAL" },
        { 1, "CIRCLE" },
        { 2, "STABILIZE" },
        { 3, "TRAINING" },
        { 4, "ACRO" },
        { 5, "FBWA" },
        { 6, "FBWB" },
        { 7, "CRUISE" },
        { 8, "AUTOTUNE" },
        { 10, "AUTO" },
        { 11, "RTL" },
        { 12, "LOITER" },
        { 14, "LAND" },         // not in list
        { 15, "GUIDED" },
        { 16, "INITIALISING" },
        { 17, "QSTABILIZE" },   // QuadPlane
        { 18, "QHOVER" },
        { 19, "QLOITER" },
        { 20, "QLAND" },
        { 21, "QRTL" }
}};

static const cmode_map arducopter_cmode_map{{
        { 0, "STABILIZE" },
        { 1, "ACRO" },
        { 2, "ALT_HOLD" },
        { 3, "AUTO" },
        { 4, "GUIDED" },
        { 5, "LOITER" },
        { 6, "RTL" },
        { 7, "CIRCLE" },
        { 8, "POSITION" },      // not in list
        { 9, "LAND" },
        { 10, "OF_LOITER" },
        { 11, "DRIFT" },        // renamed, prev name: APPROACH
        { 13, "SPORT" },
        { 14, "FLIP" },
        { 15, "AUTOTUNE" },
        { 16, "POSHOLD" },
        { 17, "BRAKE" },
        { 18, "THROW" },
        { 19, "AVOID_ADSB" },
        { 20, "GUIDED_NOGPS" }
}};

static const cmode_map apmrover2_cmode_map{{
        { 0, "MANUAL" },
        { 2, "LEARNING" },
        { 3, "STEERING" },
        { 4, "HOLD" },
        { 10, "AUTO" },
        { 11, "RTL" },
        { 15, "GUIDED" },
        { 16, "INITIALISING" }
}};

static const cmode_map ardusub_cmode_map{{
        { 0, "STABILIZE" },
        { 1, "ACRO" },
        { 2, "ALT_HOLD" },
        { 3, "AUTO" },          // n/a
        { 4, "GUIDED" },        // n/a
        { 5, "VELHOLD" },
        { 6, "RTL" },           // n/a
        { 7, "CIRCLE" },        // n/a
        { 9, "SURFACE" },
        { 10, "OF_LOITER" },    // deprecated
        { 11, "DRIFT" },        // n/a
        { 13, "TRANSECT" },
        { 14, "FLIP" },         // n/a
        { 15, "AUTOTUNE" },     // n/a
        { 16, "POSHOLD" },
        { 17, "BRAKE" },        // n/a
        { 18, "THROW" },
        { 19, "MANUAL" }
}};

static const cmode_map px4_cmode_map{{
        { px4::define_mode(px4::custom_mode::MAIN_MODE_MANUAL),           "MANUAL" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_ACRO),             "ACRO" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_ALTCTL),           "ALTCTL" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_POSCTL),           "POSCTL" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_OFFBOARD),         "OFFBOARD" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_STABILIZED),       "STABILIZED" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_RATTITUDE),        "RATTITUDE" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_MISSION), "AUTO.MISSION" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_LOITER),  "AUTO.LOITER" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_RTL),     "AUTO.RTL" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_LAND),    "AUTO.LAND" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_RTGS),    "AUTO.RTGS" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_READY),   "AUTO.READY" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_TAKEOFF), "AUTO.TAKEOFF" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_FOLLOW_TARGET), "AUTO.FOLLOW_TARGET" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_PRECLAND), "AUTO.PRECLAND" },
}};

static inline std::string str_base_mode(int base_mode) {
        return utils::format("MODE(0x%2X)", base_mode);
}

static std::string str_custom_mode(uint32_t custom_mode) {
        return utils::format("CMODE(%u)", custom_mode);
}

static std::string str_mode_cmap(const cmode_map &cmap, uint32_t custom_mode)
{
        auto it = cmap.find(custom_mode);
        if (it != cmap.end())
                return it->second;
        else
                return str_custom_mode(custom_mode);
}

static inline std::string str_mode_px4(uint32_t custom_mode_int)
{
        px4::custom_mode custom_mode(custom_mode_int);

        // clear fields
        custom_mode.reserved = 0;
        if (custom_mode.main_mode != px4::custom_mode::MAIN_MODE_AUTO) {
                ROS_WARN_COND_NAMED(custom_mode.sub_mode != 0, "uas", "PX4: Unknown sub-mode %d.%d",
                        custom_mode.main_mode, custom_mode.sub_mode);
                custom_mode.sub_mode = 0;
        }

        return str_mode_cmap(px4_cmode_map, custom_mode.data);
}

static inline bool is_apm_copter(UAS::MAV_TYPE type)
{
        return type == UAS::MAV_TYPE::QUADROTOR ||
               type == UAS::MAV_TYPE::HEXAROTOR ||
               type == UAS::MAV_TYPE::OCTOROTOR ||
               type == UAS::MAV_TYPE::TRICOPTER ||
               type == UAS::MAV_TYPE::COAXIAL;
}

std::string UAS::str_mode_v10(uint8_t base_mode, uint32_t custom_mode)
{
        if (!(base_mode & enum_value(MAV_MODE_FLAG::CUSTOM_MODE_ENABLED)))
                return str_base_mode(base_mode);

        auto type = get_type();
        auto ap = get_autopilot();
        if (MAV_AUTOPILOT::ARDUPILOTMEGA == ap) {
                if (is_apm_copter(type))
                        return str_mode_cmap(arducopter_cmode_map, custom_mode);
                else if (type == MAV_TYPE::FIXED_WING)
                        return str_mode_cmap(arduplane_cmode_map, custom_mode);
                else if (type == MAV_TYPE::GROUND_ROVER)
                        return str_mode_cmap(apmrover2_cmode_map, custom_mode);
                else if (type == MAV_TYPE::SURFACE_BOAT)
                        return str_mode_cmap(apmrover2_cmode_map, custom_mode);         // NOTE: #1051 for now (19.06.2018) boat is same as rover
                else if (type == MAV_TYPE::SUBMARINE)
                        return str_mode_cmap(ardusub_cmode_map, custom_mode);
                else {
                        ROS_WARN_THROTTLE_NAMED(30, "uas", "MODE: Unknown APM based FCU! Type: %d", enum_value(type));
                        return str_custom_mode(custom_mode);
                }
        }
        else if (MAV_AUTOPILOT::PX4 == ap)
                return str_mode_px4(custom_mode);
        else
                /* TODO: other autopilot */
                return str_custom_mode(custom_mode);
}

/* XXX TODO
 * Add a fallback CMODE(dec) decoder for unknown FCU's
 */

static bool cmode_find_cmap(const cmode_map &cmap, std::string &cmode_str, uint32_t &cmode)
{
        // 1. try find by name
        for (auto &mode : cmap) {
                if (mode.second == cmode_str) {
                        cmode = mode.first;
                        return true;
                }
        }

        // 2. try convert integer
        try {
                cmode = std::stoi(cmode_str, 0, 0);
                return true;
        }
        catch (std::invalid_argument &ex) {
                // failed
        }

        // Debugging output.
        std::ostringstream os;
        for (auto &mode : cmap)
                os << " " << mode.second;

        ROS_ERROR_STREAM_NAMED("uas", "MODE: Unknown mode: " << cmode_str);
        ROS_INFO_STREAM_NAMED("uas", "MODE: Known modes are:" << os.str());

        return false;
}

bool UAS::cmode_from_str(std::string cmode_str, uint32_t &custom_mode)
{
        // upper case
        std::transform(cmode_str.begin(), cmode_str.end(), cmode_str.begin(), std::ref(toupper));

        auto type = get_type();
        auto ap = get_autopilot();
        if (MAV_AUTOPILOT::ARDUPILOTMEGA == ap) {
                if (is_apm_copter(type))
                        return cmode_find_cmap(arducopter_cmode_map, cmode_str, custom_mode);
                else if (type == MAV_TYPE::FIXED_WING)
                        return cmode_find_cmap(arduplane_cmode_map, cmode_str, custom_mode);
                else if (type == MAV_TYPE::GROUND_ROVER)
                        return cmode_find_cmap(apmrover2_cmode_map, cmode_str, custom_mode);
                else if (type == MAV_TYPE::SUBMARINE)
                        return cmode_find_cmap(ardusub_cmode_map, cmode_str, custom_mode);
        }
        else if (MAV_AUTOPILOT::PX4 == ap)
                return cmode_find_cmap(px4_cmode_map, cmode_str, custom_mode);

        ROS_ERROR_NAMED("uas", "MODE: Unsupported FCU");
        return false;
}