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Move param handles in rc_update into unified struct

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- To follow structure & matthias recommendation
This commit is contained in:
Junwoo Hwang
2022-05-27 14:55:44 +02:00
parent 18e664d416
commit d486143eba
2 changed files with 43 additions and 25 deletions
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src/modules/rc_update/rc_update.cpp
+29 -19
View File
@@ -66,13 +66,13 @@ RCUpdate::RCUpdate() :
ModuleParams(nullptr), ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::hp_default), WorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
_trigger_slots_hysteresis{ _trigger_slots_hysteresis{
systemlib::Hysteresis{false}, systemlib::Hysteresis{false},
systemlib::Hysteresis{false}, systemlib::Hysteresis{false},
systemlib::Hysteresis{false}, systemlib::Hysteresis{false},
systemlib::Hysteresis{false}, systemlib::Hysteresis{false},
systemlib::Hysteresis{false}, systemlib::Hysteresis{false},
systemlib::Hysteresis{false} systemlib::Hysteresis{false}
} }
{ {
// initialize parameter handles // initialize parameter handles
for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) { for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
@@ -104,16 +104,16 @@ RCUpdate::RCUpdate() :
// shifted by 1 because param name starts at 1 // shifted by 1 because param name starts at 1
char name[rc_parameter_map_s::PARAM_ID_LEN]; char name[rc_parameter_map_s::PARAM_ID_LEN];
snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1); snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1);
_trigger_channel_param_handles.rc_map_param[i] = param_find(name); _parameter_handles.rc_map_param[i] = param_find(name);
} }
// Find and set RC Channel & Actions for each Trigger actions (1 ~ 6) // Find param handles for Generic Trigger Channel & Actions for slot 1 ~ 6
char param_name_buf[17] = {};
for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) { for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
char param_name_buf[17] = {};
snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_CHAN", trig_slot); snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_CHAN", trig_slot);
_trigger_channel_param_handles[trig_slot - 1] = param_find(param_name_buf); _parameter_handles.generic_trigger_chan[trig_slot - 1] = param_find(param_name_buf);
snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_ACTION", trig_slot); snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_ACTION", trig_slot);
_trigger_action_param_handles[trig_slot - 1] = param_find(param_name_buf); _parameter_handles.generic_trigger_action[trig_slot - 1] = param_find(param_name_buf);
} }
rc_parameter_map_poll(true /* forced */); rc_parameter_map_poll(true /* forced */);
@@ -171,6 +171,16 @@ void RCUpdate::parameters_updated()
update_rc_functions(); update_rc_functions();
// Update and check values of the generic action parameters
for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
int32_t new_channel{RC_TRIG_CHAN_UNASSIGNED};
int32_t new_action{RC_TRIG_ACTION_UNASSIGNED};
param_get(_parameter_handles.generic_trigger_chan[trig_slot - 1], &new_channel);
param_get(_parameter_handles.generic_trigger_action[trig_slot - 1], &new_action);
}
// deprecated parameters, will be removed post v1.12 once QGC is updated // deprecated parameters, will be removed post v1.12 once QGC is updated
{ {
int32_t rc_map_value = 0; int32_t rc_map_value = 0;
@@ -247,8 +257,6 @@ void RCUpdate::update_rc_functions()
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
_rc.function[rc_channels_s::FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1; _rc.function[rc_channels_s::FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
} }
map_flight_modes_buttons();
} }
void RCUpdate::rc_parameter_map_poll(bool forced) void RCUpdate::rc_parameter_map_poll(bool forced)
@@ -590,17 +598,18 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
// Use the Generic RC Switch / Button only when the RC is in use // Use the Generic RC Switch / Button only when the RC is in use
if (_manual_control_setpoint_sub.update() && if (_manual_control_setpoint_sub.update() &&
_manual_control_setpoint_sub.get().data_source == manual_control_setpoint_s::SOURCE_RC) { _manual_control_setpoint_sub.get().data_source == manual_control_setpoint_s::SOURCE_RC) {
_manual_control_setpoint_source_is_rc = true; _manual_control_setpoint_source_is_rc = true;
} }
// Go through the trigger slots and update the states // Go through the trigger slots and update the states
const uint32_t rc_trigger_is_button_mask = _param_rc_trig_btn_mask.get(); const uint32_t rc_trigger_is_button_mask = _param_rc_trig_btn_mask.get();
for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) { for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
int channel{RC_TRIG_CHAN_UNASSIGNED}; int channel{RC_TRIG_CHAN_UNASSIGNED};
param_get(_trigger_channel_param_handles[trig_slot-1], &channel); param_get(_trigger_channel_param_handles[trig_slot - 1], &channel);
int action{RC_TRIGGER_ACTION_UNASSIGNED}; int action{RC_TRIGGER_ACTION_UNASSIGNED};
param_get(_trigger_action_param_handles[trig_slot-1], &action); param_get(_trigger_action_param_handles[trig_slot - 1], &action);
if (channel > RC_TRIG_CHAN_UNASSIGNED) { if (channel > RC_TRIG_CHAN_UNASSIGNED) {
@@ -610,13 +619,14 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
// Update the Generic Action states // Update the Generic Action states
const uint8_t trig1_chan = _param_rc_trig1_chan.get(); const uint8_t trig1_chan = _param_rc_trig1_chan.get();
const uint8_t trig1_action = _param_rc_trig1_action.get(); const uint8_t trig1_action = _param_rc_trig1_action.get();
// Trigger Channel is configured // Trigger Channel is configured
if (trig1_chan > 0) { if (trig1_chan > 0) {
const bool is_btn = _param_rc_trig_btn_mask.get() & (1 << 0); const bool is_btn = _param_rc_trig_btn_mask.get() & (1 << 0);
if (is_btn) { if (is_btn) {
} } else {
else {
// Is Switch // Is Switch
} }
src/modules/rc_update/rc_update.h
+14 -6
View File
@@ -69,11 +69,15 @@ namespace rc_update
// Number of Generic Trigger slots that can be configured // Number of Generic Trigger slots that can be configured
static constexpr uint8_t RC_TRIG_SLOT_COUNT = 6; static constexpr uint8_t RC_TRIG_SLOT_COUNT = 6;
// Value of the RC_TRIG#_CHAN when the channel is unassigned // Value of the RC_TRIG#_CHAN when the channel is unassigned
static constexpr uint8_t RC_TRIG_CHAN_UNASSIGNED = 0; static constexpr uint8_t RC_TRIG_CHAN_UNASSIGNED = 0;
// Value of the RC_TRIG#_ACTION when the action is unassigned
static constexpr uint8_t RC_TRIG_ACTION_UNASSIGNED = -1;
// Enum class translation of the RC_TRIG#_ACTION values // Enum class translation of the RC_TRIG#_ACTION values
static constexpr enum RC_TRIGGER_ACTIONS { enum RC_TRIGGER_ACTIONS {
RC_TRIGGER_ACTION_UNASSIGNED = -1, RC_TRIGGER_ACTION_UNASSIGNED = -1,
// Commander States (defined in commander_state.msg) // Commander States (defined in commander_state.msg)
RC_TRIGGER_ACTION_MANUAL_FLIGHTMODE = 0, RC_TRIGGER_ACTION_MANUAL_FLIGHTMODE = 0,
@@ -176,6 +180,9 @@ private:
bool rev[RC_MAX_CHAN_COUNT]; bool rev[RC_MAX_CHAN_COUNT];
int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
uint8_t generic_trigger_chan[RC_TRIG_SLOT_COUNT];
uint8_t generic_trigger_action[RC_TRIG_SLOT_COUNT];
} _parameters{}; } _parameters{};
struct ParameterHandles { struct ParameterHandles {
@@ -186,10 +193,12 @@ private:
param_t dz[RC_MAX_CHAN_COUNT]; param_t dz[RC_MAX_CHAN_COUNT];
param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the parameters which are bound param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
to a RC channel, equivalent float values in the /**< param handles for the parameters which are bound to a RC channel, equivalent float values
_parameters struct are not existing * in the_parameters struct are not existing because these parameters are never read. */
because these parameters are never read. */
param_t generic_trigger_chan[RC_TRIG_SLOT_COUNT];
param_t generic_trigger_action[RC_TRIG_SLOT_COUNT];
} _parameter_handles{}; } _parameter_handles{};
uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)}; uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
@@ -223,7 +232,6 @@ private:
// Flag to indicate that RC input is being used for manual control (whether we can use generic action) // Flag to indicate that RC input is being used for manual control (whether we can use generic action)
bool _manual_control_setpoint_source_is_rc{false}; bool _manual_control_setpoint_source_is_rc{false};
// Hysteresis objects to track status of the each trigger slots for generic action
systemlib::Hysteresis _trigger_slots_hysteresis[RC_TRIG_SLOT_COUNT]; systemlib::Hysteresis _trigger_slots_hysteresis[RC_TRIG_SLOT_COUNT];
param_t _trigger_channel_param_handles[RC_TRIG_SLOT_COUNT] {}; param_t _trigger_channel_param_handles[RC_TRIG_SLOT_COUNT] {};
param_t _trigger_action_param_handles[RC_TRIG_SLOT_COUNT] {}; param_t _trigger_action_param_handles[RC_TRIG_SLOT_COUNT] {};