uas.cpp

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/*
 * Copyright 2014 Vladimir Ermakov.
 *
 * This program 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.
 *
 * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include <stdexcept>
#include <mavros/mavros_uas.h>
#include <mavros/utils.h>
#include <mavros/px4_custom_mode.h>

using namespace mavros;

UAS::UAS() :
        type(MAV_TYPE_GENERIC),
        autopilot(MAV_AUTOPILOT_GENERIC),
        target_system(1),
        target_component(1),
        connected(false),
        angular_velocity(),
        linear_acceleration(),
        orientation(),
        gps_latitude(0),
        gps_longitude(0),
        gps_altitude(0),
        gps_eph(0),
        gps_epv(0),
        fix_status(0)
{
}

void UAS::stop(void)
{
}

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

typedef std::map<uint32_t, 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" },
        { 15, "GUIDED" },
        { 16, "INITIALISING" }
};

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" },
        { 9, "LAND" },
        { 10, "OF_LOITER" },
        { 11, "APPROACH" }
};

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_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" }
};

static inline std::string str_base_mode(int base_mode) {
        std::ostringstream mode;
        mode << "MODE(0x" << std::hex << std::uppercase << base_mode << ")";
        return mode.str();
}

static std::string str_custom_mode(uint32_t custom_mode) {
        std::ostringstream mode;
        mode << "CMODE(" << custom_mode << ")";
        return mode.str();
}

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");
                custom_mode.sub_mode = 0;
        }

        return str_mode_cmap(px4_cmode_map, custom_mode.data);
}

static inline bool is_apm_copter(enum MAV_TYPE &type) {
        return type == MAV_TYPE_QUADROTOR ||
                type == MAV_TYPE_HEXAROTOR ||
                type == MAV_TYPE_OCTOROTOR ||
                type == MAV_TYPE_TRICOPTER ||
                type == MAV_TYPE_COAXIAL;
}

std::string UAS::str_mode_v10(uint8_t base_mode, uint32_t custom_mode) {
        if (!(base_mode && 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
                        /* TODO: APM:Rover */
                        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);
}

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_DEBUG_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 (MAV_AUTOPILOT_PX4 == ap)
                return cmode_find_cmap(px4_cmode_map, cmode_str, custom_mode);

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