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Various fixes/enhancements to FollowReference/UAV #206

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Various fixes/enhancements to FollowReference/UAV #206

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f41de2d
Maneuver/FollowReference: dispatch FollowReference before signalError
krisgry Aug 5, 2019
9233527
Maneuvers/FollowReference: always consume EstimatedState
krisgry Aug 5, 2019
b59f972
Maneuver/FollowReference: always consume Reference, and only use
krisgry Aug 5, 2019
9d0a5e3
Maneuver/FollowReference/UAV: fix onlineOrWaiting, use or instead of and
krisgry Aug 5, 2019
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41 changes: 26 additions & 15 deletions src/Maneuver/FollowReference/UAV/Task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -98,24 +98,32 @@ namespace Maneuver
m_last_ref_time = 0;

bindToManeuver<Task, IMC::FollowReference>();
bind<IMC::Reference>(this);
bind<IMC::EstimatedState>(this);
//Always consume Reference, as it is needed by consume(FollowReference)
bind<IMC::Reference>(this,true);
//Always consume EstimatedState, as it is needed by consume(FollowReference)
bind<IMC::EstimatedState>(this,true);
}

void
consume(const IMC::FollowReference* msg)
{
// initialize maneuver definitions and time for timeout calculation.
m_spec = *msg;
m_last_ref_time = Clock::get();
// assume that we have received a Reference message already.
// If not, or if it came from a source that is now non-authorized, set ref from estate
if(((Clock::get() - m_last_ref_time) > m_spec.timeout) || (m_cur_ref.getSource() != msg->control_src))
{
debug("Using estate as ref");
m_last_ref_time = Clock::get();

// Waiting for the first reference in the current position.
m_cur_ref.flags = Reference::FLAG_LOCATION;
m_cur_ref.lat = m_estate.lat;
m_cur_ref.lon = m_estate.lon;
m_cur_ref.radius = m_args.loitering_radius;
// Waiting for the first reference in the current position.
m_cur_ref.flags = Reference::FLAG_LOCATION;
m_cur_ref.lat = m_estate.lat;
m_cur_ref.lon = m_estate.lon;
m_cur_ref.radius = m_args.loitering_radius;

WGS84::displace(m_estate.x, m_estate.y, &(m_cur_ref.lat), &(m_cur_ref.lon));
WGS84::displace(m_estate.x, m_estate.y, &(m_cur_ref.lat), &(m_cur_ref.lon));
}

debug("lat lon = 0 ? %f", m_cur_ref.lat);

Expand All @@ -131,15 +139,15 @@ namespace Maneuver
void
consume(const IMC::Reference* msg)
{
// accept control source or broadcast.
if (m_spec.control_src != 0xFFFF && m_spec.control_src != msg->getSource())
// accept control source, broadcast, and all messages before start of maneuver
if (m_spec.control_src != 0xFFFF && m_spec.control_src != msg->getSource() && m_spec.control_src != 0)
{
debug("ignored reference from non-authorized source: %d", msg->getSource());
return;
}

// accept control source entity or broadcast.
if (m_spec.control_ent != 0xFF && m_spec.control_ent != msg->getSourceEntity())
// accept control source, broadcast, and all messages before start of maneuver
if (m_spec.control_ent != 0xFF && m_spec.control_ent != msg->getSourceEntity() && m_spec.control_ent != 0)
{
debug("ignored reference from non-authorized entity: %d", msg->getSourceEntity());
return;
Expand All @@ -152,6 +160,9 @@ namespace Maneuver
{
m_fref_state.proximity = IMC::FollowRefState::PROX_FAR;
m_fref_state.state = IMC::FollowRefState::FR_WAIT;
// reset, since we no longer know who will send Reference
m_spec.control_src = 0;
m_spec.control_ent = 0;
signalCompletion("maneuver terminated by reference source");
}
else
Expand Down Expand Up @@ -441,8 +452,8 @@ namespace Maneuver
if (delta > m_spec.timeout && isActive())
{
m_fref_state.state = IMC::FollowRefState::FR_TIMEOUT;
signalError("reference source timed out");
dispatch(m_fref_state);
signalError("reference source timed out");
}
}

Expand All @@ -452,7 +463,7 @@ namespace Maneuver
offlineOrWaiting(void)
{
return ((m_fref_state.state & IMC::FollowRefState::FR_TIMEOUT)
&& (m_fref_state.state & IMC::FollowRefState::FR_WAIT));
|| (m_fref_state.state & IMC::FollowRefState::FR_WAIT));
}

void
Expand Down