From 8d56aa0f065c10bbe5e6f468fee2edd5729bcff6 Mon Sep 17 00:00:00 2001 From: Matej Petrlik Date: Wed, 24 Jan 2024 16:57:21 +0100 Subject: [PATCH] midair activation switched state to FLYING_STATE --- src/estimation_manager/estimation_manager.cpp | 42 +++++++++++++------ 1 file changed, 29 insertions(+), 13 deletions(-) diff --git a/src/estimation_manager/estimation_manager.cpp b/src/estimation_manager/estimation_manager.cpp index 433efe99..018719f6 100644 --- a/src/estimation_manager/estimation_manager.cpp +++ b/src/estimation_manager/estimation_manager.cpp @@ -56,7 +56,7 @@ class StateMachine { UNINITIALIZED_STATE, INITIALIZED_STATE, - READY_FOR_TAKEOFF_STATE, + READY_FOR_FLIGHT_STATE, TAKING_OFF_STATE, FLYING_STATE, HOVER_STATE, @@ -86,7 +86,7 @@ class StateMachine { bool isInPublishableState() const { const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_); - return current_state == READY_FOR_TAKEOFF_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE || + return current_state == READY_FOR_FLIGHT_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE || current_state == LANDING_STATE || current_state == DUMMY_STATE || current_state == FAILSAFE_STATE; } @@ -134,10 +134,10 @@ class StateMachine { break; } - case READY_FOR_TAKEOFF_STATE: { + case READY_FOR_FLIGHT_STATE: { if (current_state_ != INITIALIZED_STATE && current_state_ != LANDED_STATE) { ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(), - getStateAsString(READY_FOR_TAKEOFF_STATE).c_str(), getStateAsString(INITIALIZED_STATE).c_str(), + getStateAsString(READY_FOR_FLIGHT_STATE).c_str(), getStateAsString(INITIALIZED_STATE).c_str(), getStateAsString(LANDED_STATE).c_str()); return false; } @@ -145,16 +145,16 @@ class StateMachine { } case TAKING_OFF_STATE: { - if (current_state_ != READY_FOR_TAKEOFF_STATE) { + if (current_state_ != READY_FOR_FLIGHT_STATE) { ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(TAKING_OFF_STATE).c_str(), - getStateAsString(READY_FOR_TAKEOFF_STATE).c_str()); + getStateAsString(READY_FOR_FLIGHT_STATE).c_str()); return false; } break; } case FLYING_STATE: { - if (current_state_ != TAKING_OFF_STATE && current_state_ != HOVER_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) { + if (current_state_ != TAKING_OFF_STATE && current_state_ != READY_FOR_FLIGHT_STATE && current_state_ != HOVER_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) { ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s or %s", getPrintName().c_str(), getStateAsString(FLYING_STATE).c_str(), getStateAsString(TAKING_OFF_STATE).c_str(), getStateAsString(HOVER_STATE).c_str(), getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str()); @@ -272,7 +272,7 @@ class StateMachine { const std::vector sm_state_names_ = { "UNINITIALIZED_STATE", "INITIALIZED_STATE", - "READY_FOR_TAKEOFF_STATE", + "READY_FOR_FLIGHT_STATE", "TAKING_OFF_STATE", "FLYING_STATE", "HOVER_STATE", @@ -305,6 +305,9 @@ class EstimationManager : public nodelet::Nodelet { std::shared_ptr sm_; + std::string after_midair_activation_tracker_name_; + std::string takeoff_tracker_name_; + mrs_lib::SubscribeHandler sh_control_manager_diag_; mrs_lib::SubscribeHandler sh_control_input_; @@ -630,7 +633,7 @@ void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& /*//}*/ if (!callbacks_disabled_by_service_ && - (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE))) { + (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE))) { callbacks_enabled_ = true; } else { callbacks_enabled_ = false; @@ -646,7 +649,7 @@ void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& sm_->changeState(StateMachine::DUMMY_STATE); } else { if (!is_using_agl_estimator_ || est_alt_agl_->isRunning()) { - sm_->changeState(StateMachine::READY_FOR_TAKEOFF_STATE); + sm_->changeState(StateMachine::READY_FOR_FLIGHT_STATE); } else { ROS_INFO_THROTTLE(1.0, "[%s]: %s agl estimator: %s to be running", getName().c_str(), Support::waiting_for_string.c_str(), est_alt_agl_->getName().c_str()); @@ -676,14 +679,22 @@ void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& ROS_ERROR_THROTTLE(1.0, "[%s]: we are in failsafe state", getName().c_str()); } - if (sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE)) { - if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == "LandoffTracker") { + // standard takeoff + if (sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE)) { + if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == takeoff_tracker_name_) { sm_->changeState(StateMachine::TAKING_OFF_STATE); } } + // midair activation + if (sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE)) { + if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == after_midair_activation_tracker_name_) { + sm_->changeState(StateMachine::FLYING_STATE); + } + } + if (sm_->isInState(StateMachine::TAKING_OFF_STATE)) { - if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker != "LandoffTracker") { + if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker != takeoff_tracker_name_) { sm_->changeState(StateMachine::FLYING_STATE); } } @@ -761,6 +772,11 @@ void EstimationManager::timerInitialization([[maybe_unused]] const ros::TimerEve } /*//}*/ + /*//{ load tracker names */ + param_loader.loadParam("mrs_uav_managers/uav_manager/takeoff/during_takeoff/tracker", takeoff_tracker_name_); + param_loader.loadParam("mrs_uav_managers/uav_manager/midair_activation/after_activation/tracker", after_midair_activation_tracker_name_); + /*//}*/ + param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/"); /*//{ load parameters into common handlers */