Create AP_GenericVehicle

AP_GenericVehicle/AP_GenericVehicle.cpp

@@ -0,0 +1,55 @@
+/*
+   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, see <http://www.gnu.org/licenses/>.
+ */
+#include "AP_GenericVehicle.h"
+
+#define FORCE_VERSION_H_INCLUDE
+#include "version.h"
+#undef FORCE_VERSION_H_INCLUDE
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+AP_GenericVehicle genericvehicle;
+AP_Vehicle& vehicle = genericvehicle;
+
+AP_GenericVehicle::AP_GenericVehicle()
+{
+}
+
+#if AP_SCHEDULER_ENABLED
+const AP_Scheduler::Task AP_GenericVehicle::scheduler_tasks[] {
+#if HAL_GCS_ENABLED
+    SCHED_TASK_CLASS(GCS,            (GCS*)&genericvehicle._gcs,       update_receive,   300,  500,  57),
+    SCHED_TASK_CLASS(GCS,            (GCS*)&genericvehicle._gcs,       update_send,      300,  750,  60),
+#endif  // HAL_GCS_ENABLED
+};
+void AP_GenericVehicle::get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) {
+    tasks = scheduler_tasks;
+    task_count = ARRAY_SIZE(scheduler_tasks);
+    log_bit = log_bitx;
+}
+#endif  // AP_SCHEDULER_ENABLED
+
+void AP_GenericVehicle::init_ardupilot()
+{
+#if AP_INERTIALSENSOR_ENABLED
+#if AP_SCHEDULER_ENABLED
+    ins.init(scheduler.get_loop_rate_hz());
+#else
+    ins.init(1000);
+#endif  // AP_SCHEDULER_ENABLED
+#endif  // AP_INERTIALSENSOR_ENABLED
+}
+
+AP_HAL_MAIN_CALLBACKS(&genericvehicle);

AP_GenericVehicle/AP_GenericVehicle.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#include <AP_Vehicle/AP_Vehicle.h>
+
+#include "Parameters.h"
+#include "GCS_GenericVehicle.h"
+
+class AP_GenericVehicle : public AP_Vehicle {
+public:
+    AP_GenericVehicle();
+
+    Parameters g;
+    static const AP_Param::Info var_info[];
+    AP_Param param_loader {var_info};
+
+    void load_parameters() override;
+
+    // begin stuff it would be nice not to have in the build:
+
+    // set_mode *must* set control_mode_reason
+    bool set_mode(const uint8_t new_mode, const ModeReason reason) override {
+        return false;
+    }
+    uint8_t get_mode() const override { return 0; }
+
+    void init_ardupilot() override;
+
+#if AP_SCHEDULER_ENABLED
+    static const AP_Scheduler::Task scheduler_tasks[];
+    uint32_t log_bitx;
+    void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) override;
+#endif
+
+#if HAL_GCS_ENABLED
+    // GCS selection
+    GCS_GenericVehicle _gcs; // avoid using this; use gcs()
+    GCS_GenericVehicle &gcs() { return _gcs; }
+#endif
+
+};
+
+extern AP_GenericVehicle genericvehicle;

AP_GenericVehicle/GCS_GenericVehicle.cpp

@@ -0,0 +1,22 @@
+#include <GCS_MAVLink/GCS_config.h>
+
+#if HAL_GCS_ENABLED
+
+#include "AP_GenericVehicle.h"
+#include "GCS_GenericVehicle.h"
+
+uint8_t GCS_GenericVehicle::sysid_this_mav() const
+{
+    return genericvehicle.g.sysid_this_mav;
+}
+
+static const ap_message STREAM_PARAMS_msgs[] = {
+    MSG_NEXT_PARAM
+};
+
+const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
+    MAV_STREAM_ENTRY(STREAM_PARAMS),
+    MAV_STREAM_TERMINATOR // must have this at end of stream_entries
+};
+
+#endif  // HAL_GCS_ENABLED

AP_GenericVehicle/GCS_GenericVehicle.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <GCS_MAVLink/GCS_config.h>
+
+#if HAL_GCS_ENABLED
+
+#include <GCS_MAVLink/GCS.h>
+#include "GCS_Mavlink.h"
+
+class GCS_GenericVehicle : public GCS
+{
+    friend class GenericVehicle;  // for access to _chan in parameter declarations
+
+public:
+
+    // the following define expands to a pair of methods to retrieve a
+    // pointer to an object of the correct subclass for the link at
+    // offset ofs.  These are of the form:
+    // GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override;
+    // const GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override const;
+    GCS_MAVLINK_CHAN_METHOD_DEFINITIONS(GCS_MAVLINK_GenericVehicle);
+
+protected:
+
+    uint8_t sysid_this_mav() const override;
+    uint32_t custom_mode() const override { return 0; }
+    MAV_TYPE frame_type() const override { return MAV_TYPE_GENERIC; }
+
+    GCS_MAVLINK_GenericVehicle *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
+                                               AP_HAL::UARTDriver &uart) override {
+        return new GCS_MAVLINK_GenericVehicle(params, uart);
+    }
+};
+
+#endif  // HAL_GCS_ENABLED

AP_GenericVehicle/GCS_Mavlink.cpp

@@ -0,0 +1,13 @@
+#include "GCS_Mavlink.h"
+
+#if HAL_GCS_ENABLED
+
+#include "AP_GenericVehicle.h"
+/*
+  default stream rates to 1Hz
+ */
+const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
+    AP_GROUPEND
+};
+
+#endif  // HAL_GCS_ENABLED

AP_GenericVehicle/GCS_Mavlink.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#include <GCS_MAVLink/GCS_config.h>
+
+#if HAL_GCS_ENABLED
+
+#ifndef MAV_SYSTEM_ID
+#define MAV_SYSTEM_ID 4
+#endif
+
+#include <GCS_MAVLink/GCS.h>
+
+class GCS_MAVLINK_GenericVehicle : public GCS_MAVLINK
+{
+
+public:
+
+    using GCS_MAVLINK::GCS_MAVLINK;
+
+    uint8_t sysid_my_gcs() const override { return 0; }
+
+protected:
+
+    uint32_t telem_delay() const override { return 0; }
+
+    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED { return false; }
+    bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED { return false; }
+
+    void send_nav_controller_output() const override {}
+    void send_pid_tuning() override {}
+
+private:
+
+    MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
+    MAV_STATE vehicle_system_status() const override { return MAV_STATE_ACTIVE; }
+
+};
+
+#endif  // HAL_GCS_ENABLED

AP_GenericVehicle/Parameters.cpp

@@ -0,0 +1,29 @@
+#include "AP_GenericVehicle.h"
+
+const AP_Param::Info AP_GenericVehicle::var_info[] = {
+    // @Param: FORMAT_VERSION
+    // @DisplayName: Eeprom format version number
+    // @Description: This value is incremented when changes are made to the eeprom format
+    // @User: Advanced
+    GSCALAR(format_version,         "FORMAT_VERSION", 0),
+
+    // @Group:
+    // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
+    PARAM_VEHICLE_INFO,
+
+#if HAL_GCS_ENABLED
+    // @Param: SYSID_THISMAV
+    // @DisplayName: MAVLink system ID of this vehicle
+    // @Description: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
+    // @Range: 1 255
+    // @User: Advanced
+    GSCALAR(sysid_this_mav,         "SYSID_THISMAV",  MAV_SYSTEM_ID),
+#endif
+
+    AP_VAREND
+};
+
+void AP_GenericVehicle::load_parameters(void)
+{
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
+}

AP_GenericVehicle/Parameters.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#define AP_PARAM_VEHICLE_NAME genericvehicle
+
+#include <AP_Param/AP_Param.h>
+
+// Global parameter class.
+//
+class Parameters {
+public:
+
+    static const uint16_t        k_format_version = 120;
+
+    enum {
+        // Layout version number, always key zero.
+        //
+        k_param_format_version =   0,
+        k_param_vehicle =   1,
+#if HAL_GCS_ENABLED
+        k_param_sysid_this_mav =   2,
+#endif
+    };
+
+    AP_Int16 format_version;
+#if HAL_GCS_ENABLED
+    AP_Int16 sysid_this_mav;
+#endif
+};

AP_GenericVehicle/version.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#ifndef FORCE_VERSION_H_INCLUDE
+#error version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h
+#endif
+
+#include "ap_version.h"
+
+#define THISFIRMWARE "AP_GenericVehicle V4.6.0-dev"
+
+// the following line is parsed by the autotest scripts
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV
+
+#define FW_MAJOR 4
+#define FW_MINOR 6
+#define FW_PATCH 0
+#define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
+
+#include <AP_Common/AP_FWVersionDefine.h>

AP_GenericVehicle/wscript

@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    if "GenericVehicle" not in bld.env.BOARD:
+        return
+    vehicle = bld.path.name
+    bld.ap_stlib(
+        name=vehicle + '_libs',
+        ap_vehicle=vehicle,
+        ap_libraries=bld.ap_common_vehicle_libraries() + [
+        ],
+    )
+
+    bld.ap_program(
+        program_name='genericvehicle',
+        program_groups=['bin', 'genericvehicle'],
+        use=vehicle + '_libs',
+    )

Tools/AP_Periph/AP_Periph.cpp

@@ -127,7 +127,9 @@ void AP_Periph_FW::init()
     logger.init(g.log_bitmask, log_structure, ARRAY_SIZE(log_structure));
 #endif
 
+#if AP_CHECK_FIRMWARE_ENABLED
     check_firmware_print();
+#endif
 
     if (hal.util->was_watchdog_reset()) {
         printf("Reboot after watchdog reset\n");

Tools/AP_Periph/AP_Periph.h

@@ -113,10 +113,13 @@
 void stm32_watchdog_init();
 void stm32_watchdog_pat();
 #endif
+
+#if AP_CHECK_FIRMWARE_ENABLED
 /*
   app descriptor for firmware checking
  */
 extern const app_descriptor_t app_descriptor;
+#endif
 
 extern "C" {
     void can_vprintf(uint8_t severity, const char *fmt, va_list arg);

Tools/AP_Periph/can.cpp

@@ -194,10 +194,12 @@ void AP_Periph_FW::handle_get_node_info(CanardInstance* canard_instance,
     pkt.software_version.major = AP::fwversion().major;
     pkt.software_version.minor = AP::fwversion().minor;
     pkt.software_version.optional_field_flags = UAVCAN_PROTOCOL_SOFTWAREVERSION_OPTIONAL_FIELD_FLAG_VCS_COMMIT | UAVCAN_PROTOCOL_SOFTWAREVERSION_OPTIONAL_FIELD_FLAG_IMAGE_CRC;
+#if AP_CHECK_FIRMWARE_ENABLED
     pkt.software_version.vcs_commit = app_descriptor.git_hash;
     uint32_t *crc = (uint32_t *)&pkt.software_version.image_crc;
     crc[0] = app_descriptor.image_crc1;
     crc[1] = app_descriptor.image_crc2;
+#endif
 
     readUniqueID(pkt.hardware_version.unique_id);
 

Tools/Replay/Replay.cpp

@@ -27,6 +27,8 @@
 #include <AP_Filesystem/posix_compat.h>
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 
+#include <AP_Common/ExampleFirmwareVersion.h>
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include <AP_HAL_Linux/Scheduler.h>
 #endif