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autopilot_interface_new_methods.cpp
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/****************************************************************************
*
* Copyright (c) 2014 MAVlink Development Team. All rights reserved.
* Author: Trent Lukaczyk, <[email protected]>
* Jaycee Lock, <[email protected]>
* Lorenz Meier, <[email protected]>
* Tristan Sherman, <[email protected]>
* Mitchell Caudle, Jimmy Lopez, Hana Haideri
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file autopilot_interface.cpp
*
* @brief Autopilot interface functions
*
* Functions for sending and recieving commands to an autopilot via MAVlink
*
* @author Trent Lukaczyk, <[email protected]>
* @author Jaycee Lock, <[email protected]>
* @author Lorenz Meier, <[email protected]>
* @author Tristan Sherman, <[email protected]>
*/
// ------------------------------------------------------------------------------
// Includes
// ------------------------------------------------------------------------------
#include "autopilot_interface.h"
#include <iostream>
#include <string>
#include <fstream>
#include <chrono>
#include <cstring>
//ADDED FOR NEW CA_AVOID CODE
//also added these two lines to autopilot_interface.h
#include <cmath>
#include <tgmath.h>
#define TO_DEGREES 180 / PI
// END -- MAY BE SWITCHED TO OTHER FILE LATER
//ADDED TO TEST CALLSIGN READING
#include <typeinfo>
using std::endl;
using std::cout;
//END CALLSIGN ADDS
using std::string;
using namespace std::chrono;
//overloaded simple string conversion methods
string convertToString(bool var)
{
if (var)
return "TRUE";
else
return "FALSE";
}
string convertToString(uint64_t var)
{
return std::to_string(var);
}
string convertToString(double var)
{
return std::to_string(var);
}
string convertToString(float var)
{
return std::to_string(var);
}
string convertToString(int var)
{
return std::to_string(var);
}
//returns system timestamp as string
string timeStamp()
{
auto tp = std::chrono::high_resolution_clock::now();
auto ttime_t = std::chrono::system_clock::to_time_t(tp);
auto tp_sec = std::chrono::system_clock::from_time_t(ttime_t);
milliseconds ms = duration_cast<milliseconds>(tp - tp_sec);
std::tm * ttm = localtime(&ttime_t);
char date_time_format[] = "%Y.%m.%d-%H.%M.%S";
char time_str[] = "yyyy.mm.dd.HH-MM.SS.fff";
strftime(time_str, strlen(time_str), date_time_format, ttm);
string result(time_str);
result.append(".");
result.append(std::to_string(ms.count()));
return result;
}
//Appends to txt file or creates txt file if none exist
static void addToFile(string line, string description)
{
std::ofstream file;
//modify string filepath based on folder you want to access
//currently will output txt file to project cmake-debug folder
string filepath = "logging_file.txt";
file.open(filepath, std::ios::out | std::ios::app);
//make sure write fails with exception if something is wrong
file.exceptions(file.exceptions() | std::ios::failbit | std::ifstream::badbit);
file << timeStamp() + " " + description + " : " + line << std::endl;
file.close();
}
// ----------------------------------------------------------------------------------
// Time
// ------------------- ---------------------------------------------------------------
uint64_t
get_time_usec()
{
static struct timeval _time_stamp;
gettimeofday(&_time_stamp, NULL);
return _time_stamp.tv_sec*1000000 + _time_stamp.tv_usec;
}
// ----------------------------------------------------------------------------------
// Setpoint Helper Functions
// ----------------------------------------------------------------------------------
// choose one of the next three
/*
* Set target local ned position
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target XYZ locations
* in the Local NED frame, in meters.
*/
void
set_position(float x, float y, float z, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_POSITION;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.x = x;
sp.y = y;
sp.z = z;
printf("POSITION SETPOINT XYZ = [ %.4f , %.4f , %.4f ] \n", sp.x, sp.y, sp.z);
}
/*
* Set target local ned velocity
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target VX VY VZ
* velocities in the Local NED frame, in meters per second.
*/
void
set_velocity(float vx, float vy, float vz, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY ;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.vx = vx;
sp.vy = vy;
sp.vz = vz;
//printf("VELOCITY SETPOINT UVW = [ %.4f , %.4f , %.4f ] \n", sp.vx, sp.vy, sp.vz);
}
/*
* Set target local ned acceleration
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target AX AY AZ
* accelerations in the Local NED frame, in meters per second squared.
*/
void
set_acceleration(float ax, float ay, float az, mavlink_set_position_target_local_ned_t &sp)
{
// NOT IMPLEMENTED
fprintf(stderr,"set_acceleration doesn't work yet \n");
throw 1;
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_ACCELERATION &
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY ;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.afx = ax;
sp.afy = ay;
sp.afz = az;
}
// the next two need to be called after one of the above
/*
* Set target local ned yaw
*
* Modifies a mavlink_set_position_target_local_ned_t struct with a target yaw
* in the Local NED frame, in radians.
*/
void
set_yaw(float yaw, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask &=
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_ANGLE ;
sp.yaw = yaw;
printf("POSITION SETPOINT YAW = %.4f \n", sp.yaw);
}
/*
* Set target local ned yaw rate
*
* Modifies a mavlink_set_position_target_local_ned_t struct with a target yaw rate
* in the Local NED frame, in radians per second.
*/
void
set_yaw_rate(float yaw_rate, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask &=
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_RATE ;
sp.yaw_rate = yaw_rate;
}
// ----------------------------------------------------------------------------------
// Autopilot Interface Class
// ----------------------------------------------------------------------------------
// ------------------------------------------------------------------------------
// Con/De structors
// ------------------------------------------------------------------------------
Autopilot_Interface::
Autopilot_Interface(Serial_Port *serial_port_)
{
// initialize attributes
write_count = 0;
error_counter = 0;
reading_status = 0; // whether the read thread is running
writing_status = 0; // whether the write thread is running
reading_waypoint_status = 0;
control_status = 0; // whether the autopilot is in offboard control mode
CA_status = 0; // whether the collision avoidance thread is running
time_to_exit = false; // flag to signal thread exit
read_tid = 0; // read thread id
write_tid = 0; // write thread id
CA_tid = 0;//Collision avoidance thread id
system_id = 0; // system id
autopilot_id = 0; // autopilot component id
companion_id = 0; // companion computer component id
current_messages.sysid = system_id;
current_messages.compid = autopilot_id;
serial_port = serial_port_; // serial port management object
}
Autopilot_Interface::
~Autopilot_Interface()
{}
// ------------------------------------------------------------------------------
// Update Setpoint
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
update_setpoint(mavlink_set_position_target_local_ned_t setpoint)
{
current_setpoint = setpoint;
}
// ------------------------------------------------------------------------------
// Read Messages
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
read_messages()
{
bool success; // receive success flag
bool received_all = false; // receive only one message
Time_Stamps this_timestamps;
// Blocking wait for new data
while ( !received_all and !time_to_exit )
{
//Read message from serial
mavlink_message_t message;
success = serial_port->read_message(message);
//Handle received message
if( success )
{
// Store message sysid and compid.
// Note this doesn't handle multiple message sources.
current_messages.sysid = message.sysid;
current_messages.compid = message.compid;
// Handle Message ID
switch (message.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
{
//printf("MAVLINK_MSG_ID_HEARTBEAT\n");
mavlink_msg_heartbeat_decode(&message, &(current_messages.heartbeat));
current_messages.time_stamps.heartbeat = get_time_usec();
this_timestamps.heartbeat = current_messages.time_stamps.heartbeat;
break;
}
case MAVLINK_MSG_ID_SYS_STATUS:
{
//printf("MAVLINK_MSG_ID_SYS_STATUS\n");
mavlink_msg_sys_status_decode(&message, &(current_messages.sys_status));
current_messages.time_stamps.sys_status = get_time_usec();
this_timestamps.sys_status = current_messages.time_stamps.sys_status;
break;
}
case MAVLINK_MSG_ID_BATTERY_STATUS:
{
//printf("MAVLINK_MSG_ID_BATTERY_STATUS\n");
mavlink_msg_battery_status_decode(&message, &(current_messages.battery_status));
current_messages.time_stamps.battery_status = get_time_usec();
this_timestamps.battery_status = current_messages.time_stamps.battery_status;
break;
}
case MAVLINK_MSG_ID_RADIO_STATUS:
{
//printf("MAVLINK_MSG_ID_RADIO_STATUS\n");
mavlink_msg_radio_status_decode(&message, &(current_messages.radio_status));
current_messages.time_stamps.radio_status = get_time_usec();
this_timestamps.radio_status = current_messages.time_stamps.radio_status;
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
{
//printf("MAVLINK_MSG_ID_RC_CHANNELS_RAW\n");
mavlink_msg_rc_channels_raw_decode(&message, &(current_messages.rc_channels_raw_t));
current_messages.time_stamps.rc_channels_raw_t = get_time_usec();
this_timestamps.rc_channels_raw_t = current_messages.time_stamps.rc_channels_raw_t;
break;
}
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
{
//printf("MAVLINK_MSG_ID_LOCAL_POSITION_NED\n");
mavlink_msg_local_position_ned_decode(&message, &(current_messages.local_position_ned));
current_messages.time_stamps.local_position_ned = get_time_usec();
this_timestamps.local_position_ned = current_messages.time_stamps.local_position_ned;
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
//printf("MAVLINK_MSG_ID_GLOBAL_POSITION_INT\n");
mavlink_msg_global_position_int_decode(&message, &(current_messages.global_position_int));
current_messages.time_stamps.global_position_int = get_time_usec();
this_timestamps.global_position_int = current_messages.time_stamps.global_position_int;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
{
//printf("MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED\n");
mavlink_msg_position_target_local_ned_decode(&message, &(current_messages.position_target_local_ned));
current_messages.time_stamps.position_target_local_ned = get_time_usec();
this_timestamps.position_target_local_ned = current_messages.time_stamps.position_target_local_ned;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT:
{
//printf("MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT\n");
mavlink_msg_position_target_global_int_decode(&message, &(current_messages.position_target_global_int));
current_messages.time_stamps.position_target_global_int = get_time_usec();
this_timestamps.position_target_global_int = current_messages.time_stamps.position_target_global_int;
break;
}
case MAVLINK_MSG_ID_HIGHRES_IMU:
{
//printf("MAVLINK_MSG_ID_HIGHRES_IMU\n");
mavlink_msg_highres_imu_decode(&message, &(current_messages.highres_imu));
current_messages.time_stamps.highres_imu = get_time_usec();
this_timestamps.highres_imu = current_messages.time_stamps.highres_imu;
break;
}
case MAVLINK_MSG_ID_ATTITUDE:
{
//printf("MAVLINK_MSG_ID_ATTITUDE\n");
mavlink_msg_attitude_decode(&message, &(current_messages.attitude));
current_messages.time_stamps.attitude = get_time_usec();
this_timestamps.attitude = current_messages.time_stamps.attitude;
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT:
{
//printf("MAVLINK_MSG_ID_MISSION_COUNT\n");
mavlink_msg_mission_count_decode(&message, &(current_messages.mavlink_mission_count));
current_messages.time_stamps.mavlink_mission_count = get_time_usec();
this_timestamps.mavlink_mission_count = current_messages.time_stamps.mavlink_mission_count;
break;
}
case MAVLINK_MSG_ID_MISSION_ITEM:
{
//printf("MAVLINK_MSG_ID_MISSION_ITEM\n");
mavlink_msg_mission_item_decode(&message, &(current_messages.mavlink_mission_item));
current_messages.time_stamps.mavlink_mission_item = get_time_usec();
this_timestamps.mavlink_mission_item = current_messages.time_stamps.mavlink_mission_item;
break;
}
case MAVLINK_MSG_ID_MISSION_CURRENT:
{
//printf("MAVLINK_MSG_ID_MISSION_CURRENT\n");
mavlink_msg_mission_current_decode(&message, &(current_messages.mission_current_t));
current_messages.time_stamps.mission_current_t = get_time_usec();
this_timestamps.mission_current_t = current_messages.time_stamps.mission_current_t;
currentWaypoint = current_messages.mission_current_t.seq;
break;
}
case MAVLINK_MSG_ID_ADSB_VEHICLE:
{
//printf("\nMAVLINK_MSG_ID_ADS_B\n");
//Test that this function will work
// TEST CODE ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//Get Callsign
//string callsign = mavlink_msg_adsb_vehicle_get_callsign(&message, (current_messages.adsb_vehicle_t.callsign));
//cout << typeid(mavlink_msg_adsb_vehicle_get_callsign(&message, (current_messages.adsb_vehicle_t.callsign))).name() << endl;
//cout << mavlink_msg_adsb_vehicle_get_callsign(&message, (current_messages.adsb_vehicle_t.callsign)) << endl;
//printf("Callsign: %c\n", callsign);
//Get ICAO address
uint32_t ICAO = mavlink_msg_adsb_vehicle_get_ICAO_address(&message);
printf("ICAO %u\n", ICAO);
if (ICAO == 10700118 ) { //ADSB on test board
//if (ICAO == 3819648 ) { //ADSB on Piper Cub
// Decode full message and store it
mavlink_msg_adsb_vehicle_decode(&message, &(current_messages.adsb_vehicle_t));
current_messages.time_stamps.adsb_vehicle_t = get_time_usec();
this_timestamps.adsb_vehicle_t = current_messages.time_stamps.adsb_vehicle_t;
printf("ICAO after decode: %u \n", current_messages.adsb_vehicle_t.ICAO_address);
//printf("Time since last message: %u \n", current_messages.adsb_vehicle_t.tslc);
}
break;
}
default:
{
//printf("Warning, did not handle message id %i\n",message.msgid);
break;
}
} // end: switch msgid
} // end: if read message
// Check for receipt of all items
received_all = received_all = recieved_all_messages(this_timestamps);
// give the write thread time to use the port
if ( writing_status > false ) {
usleep(100); // look for components of batches at 10kHz
}
} // end: while not received all
return;
}
/*
* Check if all desired messages have been recieved
*/
bool
Autopilot_Interface::recieved_all_messages(const Time_Stamps &time_stamps) {
//Returns false only if you want to read something and haven't
// If you want to read attitude (1) and haven't (0). 1 == 0 ==> false
// If you don't want do read attitude(0) and haven't(0). 0 == 0 ==> true
return
(messages_to_read.read_attitude == time_stamps.attitude)
//&& (messages_to_read.read_autopilot_version == time_stamps.autopilot_version)
&& (messages_to_read.read_battery_status == time_stamps.battery_status)
&& (messages_to_read.read_global_position_int == time_stamps.global_position_int)
&& (messages_to_read.read_heartbeat == time_stamps.heartbeat)
&& (messages_to_read.read_highres_imu == time_stamps.highres_imu)
&& (messages_to_read.read_local_position_ned == time_stamps.local_position_ned)
&& (messages_to_read.read_position_target_global_int == time_stamps.position_target_global_int)
&& (messages_to_read.read_position_target_local_ned == time_stamps.position_target_local_ned)
&& (messages_to_read.read_radio_status == time_stamps.radio_status)
&& (messages_to_read.read_sys_status == time_stamps.sys_status);
//&& (messages_to_read.read_power_status == time_stamps.power_status);
}
// ------------------------------------------------------------------------------
// Write Message
// ------------------------------------------------------------------------------
int
Autopilot_Interface::
write_message(mavlink_message_t message)
{
// do the write
int len = serial_port->write_message(message);
// book keep
write_count++;
// Done!
return len;
}
// ------------------------------------------------------------------------------
// Write Setpoint Message
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
write_setpoint()
{
// --------------------------------------------------------------------------
// PACK PAYLOAD
// --------------------------------------------------------------------------
// pull from position target
mavlink_set_position_target_local_ned_t sp = current_setpoint;
// double check some system parameters
if ( not sp.time_boot_ms )
sp.time_boot_ms = (uint32_t) (get_time_usec()/1000);
sp.target_system = system_id;
sp.target_component = autopilot_id;
// --------------------------------------------------------------------------
// ENCODE
// --------------------------------------------------------------------------
mavlink_message_t message;
mavlink_msg_set_position_target_local_ned_encode(system_id, companion_id, &message, &sp);
// --------------------------------------------------------------------------
// WRITE
// --------------------------------------------------------------------------
// do the write
int len = write_message(message);
// check the write
if ( len <= 0 )
fprintf(stderr,"WARNING: could not send POSITION_TARGET_LOCAL_NED \n");
// else
// printf("%lu POSITION_TARGET = [ %f , %f , %f ] \n", write_count, position_target.x, position_target.y, position_target.z);
return;
}
// ------------------------------------------------------------------------------
// Start Off-Board Mode
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
enable_offboard_control()
{
// Should only send this command once
if ( control_status == false )
{
printf("ENABLE OFFBOARD MODE\n");
// ----------------------------------------------------------------------
// TOGGLE OFF-BOARD MODE
// ----------------------------------------------------------------------
// Sends the command to go off-board
int success = toggle_offboard_control( true );
// Check the command was written
if ( success )
control_status = true;
else
{
fprintf(stderr,"Error: off-board mode not set, could not write message\n");
//throw EXIT_FAILURE;
}
printf("\n");
} // end: if not offboard_status
}
// ------------------------------------------------------------------------------
// Stop Off-Board Mode
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
disable_offboard_control()
{
// Should only send this command once
if ( control_status == true )
{
printf("DISABLE OFFBOARD MODE\n");
// ----------------------------------------------------------------------
// TOGGLE OFF-BOARD MODE
// ----------------------------------------------------------------------
// Sends the command to stop off-board
int success = toggle_offboard_control( false );
// Check the command was written
if ( success )
control_status = false;
else
{
fprintf(stderr,"Error: off-board mode not set, could not write message\n");
//throw EXIT_FAILURE;
}
printf("\n");
} // end: if offboard_status
}
// ------------------------------------------------------------------------------
// Toggle Off-Board Mode
// ------------------------------------------------------------------------------
int
Autopilot_Interface::
toggle_offboard_control( bool flag )
{
// Prepare command for off-board mode
mavlink_command_long_t com = { 0 };
com.target_system = system_id;
com.target_component = autopilot_id;
com.command = MAV_CMD_NAV_GUIDED_ENABLE;
com.confirmation = true;
com.param1 = (float) flag; // flag >0.5 => start, <0.5 => stop
// Encode
mavlink_message_t message;
mavlink_msg_command_long_encode(system_id, companion_id, &message, &com);
// Send the message
int len = serial_port->write_message(message);
// Done!
return len;
}
// ------------------------------------------------------------------------------
// STARTUP
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
start()
{
int result;
// --------------------------------------------------------------------------
// CHECK SERIAL PORT
// --------------------------------------------------------------------------
if ( serial_port->status != 1 ) // SERIAL_PORT_OPEN
{
fprintf(stderr,"ERROR: serial port not open\n");
throw 1;
}
// --------------------------------------------------------------------------
// READ THREAD
// --------------------------------------------------------------------------
printf("START READ THREAD \n");
//uses pthread helper function &start_mavlink_interface_read_thread
//to call function start_read_thread in a new thread
result = pthread_create( &read_tid, NULL, &start_autopilot_interface_read_thread, this );
if ( result ) throw result;
// now we're reading messages
printf("\n");
// --------------------------------------------------------------------------
// CHECK FOR MESSAGES
// --------------------------------------------------------------------------
printf("CHECK FOR MESSAGES\n");
while ( not current_messages.sysid )
{
if ( time_to_exit )
return;
printf("Reboot Autopilot\n");
usleep(500000); // check at 2Hz
}
printf("Found\n");
// now we know autopilot is sending messages
printf("\n");
// --------------------------------------------------------------------------
// GET SYSTEM and COMPONENT IDs
// --------------------------------------------------------------------------
// This comes from the heartbeat, which in theory should only come from
// the autopilot we're directly connected to it. If there is more than one
// vehicle then we can't expect to discover id's like this.
// In which case set the id's manually.
// System ID
if ( not system_id )
{
system_id = current_messages.sysid;
printf("GOT VEHICLE SYSTEM ID: %i\n", system_id );
}
// Component ID
if ( not autopilot_id )
{
autopilot_id = current_messages.compid;
printf("GOT AUTOPILOT COMPONENT ID: %i\n", autopilot_id);
printf("\n");
}
// --------------------------------------------------------------------------
// WRITE THREAD
// --------------------------------------------------------------------------
printf("START WRITE THREAD \n");
result = pthread_create( &write_tid, NULL, &start_autopilot_interface_write_thread, this );
if ( result ) throw result;
// wait for it to be started
while ( not writing_status )
usleep(100000); // 10Hz
// now we're streaming setpoint commands
printf("\n");
// Done!
return;
}
// ------------------------------------------------------------------------------
// SHUTDOWN
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
stop()
{
// --------------------------------------------------------------------------
// CLOSE THREADS
// --------------------------------------------------------------------------
printf("CLOSE THREADS\n");
// signal exit
time_to_exit = true;
// wait for exit
pthread_join(read_tid ,NULL);
pthread_join(write_tid,NULL);
pthread_join(CA_tid,NULL);
// now the predict, read and write threads are closed
printf("\n");
// still need to close the serial_port separately
}
// ------------------------------------------------------------------------------
// Read Thread
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
start_read_thread()
{
if ( reading_status != 0 )
{
fprintf(stderr,"read thread already running\n");
return;
}
else
{
read_thread();
return;
}
}
// ------------------------------------------------------------------------------
// Read Thread
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
read_thread()
{
reading_status = true;
while ( ! time_to_exit )
{
//printf("Read message\n");
read_messages();
usleep(100000); // Read batches at 10Hz
}
reading_status = false;
return;
}
// ------------------------------------------------------------------------------
// Write Thread
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
start_write_thread(void)
{
if ( not writing_status == false )
{
fprintf(stderr,"write thread already running\n");
return;
}
else
{
write_thread();
return;
}
}
// ------------------------------------------------------------------------------
// Quit Handler
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
handle_quit( int sig )
{
disable_offboard_control();
try {
stop();
}
catch (int error) {
fprintf(stderr,"Warning, could not stop autopilot interface\n");
}
}
// ------------------------------------------------------------------------------
// Write Thread
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
write_thread(void)
{
// signal startup
writing_status = 2;
// prepare an initial setpoint, just stay put
mavlink_set_position_target_local_ned_t sp;
sp.type_mask = MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY &
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_RATE;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.vx = 0.0;
sp.vy = 0.0;
sp.vz = 0.0;
sp.yaw_rate = 0.0;
// set position target
current_setpoint = sp;
// write a message and signal writing
write_setpoint();
writing_status = true;
// Pixhawk needs to see off-board commands at minimum 2Hz,
// otherwise it will go into fail safe
while ( !time_to_exit )
{
usleep(250000); // Stream at 4Hz
write_setpoint();
}
// signal end
writing_status = false;
return;