99 lines
4.4 KiB
Python
99 lines
4.4 KiB
Python
"""MAVSDK offboard 网关 —— 控制意图 → MAVSDK 设定点（语义映射）。
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对应 C++ 参考实现 reference-c++/visual_track_control/src/mavlink_command_gateway.cpp
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（C++ 版手工编码 MAVLink ID 84 字节流；Python 版改用 MAVSDK offboard API，
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按 A2 语义映射三分支）：
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速率式（yaw_rate_dps ≠ 0）→ set_velocity_body(机体前向, 0, vz, yaw_rate)
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位置式（yaw_deg ≠ 0 且角速率为零）→ set_velocity_ned(NED 速度 + 绝对 yaw)
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两者均零 → set_velocity_body 配零角速率（保持当前航向，A2 回归语义）
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刹车 → set_velocity_body(0, 0, 0, 0)（MAVSDK 无刹车掩码的行为等效适配）
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降级保持（DEGRADED_HOLD）不发送任何指令，由调用方（胶水层）判断模式。
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MAVSDK Python API 为 asyncio 异步接口，本网关方法均为协程；传输异常
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捕获后返回 False（与 C++ 传输失败传播一致），不向外抛异常。
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"""
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import logging
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from typing import Any, Optional
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from .types import ControlOutput
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logger = logging.getLogger(__name__)
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class MavsdkCommandGateway:
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"""drone：mavsdk System（仅取 .offboard 属性，duck-typed 便于注入 mock）。"""
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def __init__(self, drone: Any) -> None:
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self._offboard = drone.offboard
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self._started = False
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async def start(self) -> bool:
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"""进入 offboard：PX4 要求先流式发送首条设定点再请求启动。"""
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try:
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await self._offboard.set_velocity_body(
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self._velocity_body(0.0, 0.0, 0.0, 0.0))
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await self._offboard.start()
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except Exception as exc: # OffboardError / 连接异常统一视为启动失败
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logger.warning("[MavsdkGateway] offboard 启动失败: %s", exc)
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return False
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self._started = True
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logger.info("[MavsdkGateway] offboard 已启动")
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return True
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async def send_velocity_heading(self, output: ControlOutput,
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time_boot_ms: Optional[int] = None) -> bool:
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try:
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if output.yaw_rate_dps != 0.0:
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# 速率式：机体系速度 + 偏航角速度（NED 分量不再使用）
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await self._offboard.set_velocity_body(
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self._velocity_body(output.vx_body_mps, 0.0, output.vz_mps,
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output.yaw_rate_dps))
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elif output.yaw_deg != 0.0:
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# 位置式：NED 速度 + 绝对航向（A2：绝对航向合成在控制律完成）
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await self._offboard.set_velocity_ned(
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self._velocity_ned(output.vx_mps, output.vy_mps,
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output.vz_mps, output.yaw_deg))
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else:
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# 两者均零：机体系速度 + 零角速率 = 保持当前航向（A2 回归语义）
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await self._offboard.set_velocity_body(
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self._velocity_body(output.vx_body_mps, 0.0, output.vz_mps,
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0.0))
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except Exception as exc:
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logger.warning("[MavsdkGateway] 速度航向指令发送失败: %s", exc)
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return False
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return True
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async def send_brake_hover(self, time_boot_ms: Optional[int] = None) -> bool:
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try:
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await self._offboard.set_velocity_body(
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self._velocity_body(0.0, 0.0, 0.0, 0.0))
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except Exception as exc:
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logger.warning("[MavsdkGateway] 刹车指令发送失败: %s", exc)
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return False
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return True
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async def stop(self) -> None:
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try:
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await self._offboard.stop()
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except Exception as exc:
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logger.warning("[MavsdkGateway] offboard 停止失败: %s", exc)
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self._started = False
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logger.info("[MavsdkGateway] offboard 已停止")
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@staticmethod
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def _velocity_body(forward: float, right: float, down: float,
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yawspeed: float) -> Any:
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from mavsdk import offboard as _mavsdk_offboard
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return _mavsdk_offboard.VelocityBodyYawspeed(
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forward_m_s=forward, right_m_s=right, down_m_s=down,
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yawspeed_deg_s=yawspeed)
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@staticmethod
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def _velocity_ned(north: float, east: float, down: float,
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yaw: float) -> Any:
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from mavsdk import offboard as _mavsdk_offboard
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return _mavsdk_offboard.VelocityNedYaw(
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north_m_s=north, east_m_s=east, down_m_s=down, yaw_deg=yaw)
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