Add --enable-overrid option

- separated out the mac_eq function into a _utils file - We can add more defines using --enable-overrid. The current one is AP_ODIDSCANNER_ENABLED
uci-overRID · Oct 31, 2024 · 33d3d34 · 33d3d34
1 parent aaa1325
commit 33d3d34
Show file tree

Hide file tree

Showing 12 changed files with 78 additions and 27 deletions.
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -104,6 +104,15 @@ def srcpath(path):
         else:
             cfg.msg("Enabled OpenDroneID", 'no', color='YELLOW')
 
+        if cfg.options.enable_overrid:
+            env.ENABLE_OVERRID = True
+            env.DEFINES.update(
+                AP_ODIDSCANNER_ENABLED=1,
+            )
+            cfg.msg("Enabled uci-overRID", 'yes')
+        else:
+            cfg.msg("Enabled uci-overRID", 'no', color='YELLOW')
+
         # allow enable of firmware ID checking for any board
         if cfg.options.enable_check_firmware:
             env.CHECK_FIRMWARE_ENABLED = True
@@ -1400,4 +1409,4 @@ class SITL_x86_64_linux_gnu(SITL_static):
     toolchain = 'x86_64-linux-gnu'
 
 class SITL_arm_linux_gnueabihf(SITL_static):
-    toolchain = 'arm-linux-gnueabihf'
+    toolchain = 'arm-linux-gnueabihf'
diff --git a/libraries/AC_Avoidance/AP_OABendyRuler.cpp b/libraries/AC_Avoidance/AP_OABendyRuler.cpp
@@ -451,9 +451,11 @@ float AP_OABendyRuler::calc_avoidance_margin(const Location &start, const Locati
         margin_min = MIN(margin_min, latest_margin);
     }
 
+#if AP_ODIDSCANNER_ENABLED
     if (calc_margin_from_open_drone_id(start, end, latest_margin)) {
         margin_min = MIN(margin_min, latest_margin);
     }
+#endif
 
     // return smallest margin from any obstacle
     return margin_min;
@@ -715,6 +717,7 @@ bool AP_OABendyRuler::calc_margin_from_object_database(const Location &start, co
     return false;
 }
 
+#if AP_ODIDSCANNER_ENABLED
 bool AP_OABendyRuler::calc_margin_from_open_drone_id(const Location &start, const Location &end, float &margin) const {
     AP_ODIDScanner* odid = &AP::vehicle()->odidscanner;
 
@@ -745,4 +748,5 @@ bool AP_OABendyRuler::calc_margin_from_open_drone_id(const Location &start, cons
     }
 
     return false;
-}
+}
+#endif
diff --git a/libraries/AP_Avoidance/AP_Avoidance.cpp b/libraries/AP_Avoidance/AP_Avoidance.cpp
@@ -10,6 +10,7 @@ extern const AP_HAL::HAL& hal;
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_Logger/AP_Logger.h>
+#include<AP_ODIDScanner/AP_ODIDScanner_utils.h>
 
 #define AVOIDANCE_DEBUGGING 0
 
@@ -342,6 +343,7 @@ void AP_Avoidance::get_adsb_samples()
 
 void AP_Avoidance::get_odid_samples()
 {
+#if AP_ODIDSCANNER_ENABLED
     //TODO: Process samples here
     // GCS_SEND_TEXT(MAV_SEVERITY_INFO,"Avoidance: Get %d drones", AP::vehicle()->odidscanner.get_count());
     for(int i = 0;i<AP::vehicle()->odidscanner.get_count();i++) {
@@ -359,6 +361,7 @@ void AP_Avoidance::get_odid_samples()
                     AP::vehicle()->odidscanner.get_vehicle_location(i),
                     vel);
     }
+#endif
 }
 
 float closest_approach_xy(const Location &my_loc,
@@ -639,9 +642,11 @@ void AP_Avoidance::update()
     if (_adsb.enabled()) {
         get_adsb_samples();
     }
+#if AP_ODIDSCANNER_ENABLED
     if (AP::vehicle()->odidscanner.enabled()) {
         get_odid_samples();
     }
+#endif
 
     check_for_threats();
 

diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp b/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp
@@ -1,4 +1,7 @@
 #include "AP_ODIDScanner.h"
+
+#if AP_ODIDSCANNER_ENABLED
+
 #include "GCS_MAVLink/GCS_MAVLink.h"
 #include "GCS_MAVLink/GCS.h"
 #include <AP_HAL/AP_HAL.h>
@@ -18,14 +21,6 @@
 #define VEHICLE_TIMEOUT_MS 30000
 
 
-bool mac_eq(uint8_t a[6], uint8_t b[6]) {
-    return a[0] == b[0] &&
-           a[1] == b[1] &&
-           a[2] == b[2] &&
-           a[3] == b[3] &&
-           a[4] == b[4] &&
-           a[5] == b[5];
-}
 
 // TODO: Random default for mav_port needs fix
 AP_ODIDScanner::AP_ODIDScanner() : _mav_port(1){
@@ -37,11 +32,11 @@ bool AP_ODIDScanner::enabled() {
 void AP_ODIDScanner::init() {
     _chan = mavlink_channel_t(gcs().get_channel_from_port_number(_mav_port));
     _initialised = true;
-    _port = AP::serialmanager().get_serial_by_id(_mav_port);
-    if (_port != nullptr) {
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Scanner: Found RID Device");
-        _port->begin(57600, 512, 512);
-    }
+    /*_port = AP::serialmanager().get_serial_by_id(_mav_port);*/
+    /*if (_port != nullptr) {*/
+    /*    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Scanner: Found RID Device");*/
+    /*    _port->begin(57600, 512, 512);*/
+    /*}*/
 }
 
 
@@ -92,7 +87,7 @@ void AP_ODIDScanner::update() {
         last_dev_hb_msg_ms = now_ms;
         // GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Scanner: Device Not Found at %f",float(now_ms));
         // this is a bug, the device is working when this is sent....
-        _port->printf("Scanner: Where is this printing?");
+        /*_port->printf("Scanner: Where is this printing?");*/
     }
 
     if (now_ms - last_hb_send_ms > 1000) { // why this?
@@ -251,4 +246,5 @@ rid_vehicle_t& AP_ODIDScanner::get_vehicle(int i) {
 Location AP_ODIDScanner::get_vehicle_location(int i) {
     auto v = this->get_vehicle(i);
     return Location(v.loc.latitude, v.loc.longitude, v.loc.altitude_geodetic*100, Location::AltFrame::ABSOLUTE);
-}
+}
+#endif // AP_ODIDSCANNER_ENABLED
diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner.h b/libraries/AP_ODIDScanner/AP_ODIDScanner.h
@@ -1,18 +1,24 @@
 
 #pragma once
 
-#include <cstdint>
-#define ODID_SCANNER_ENABLED 1
-#ifdef ODID_SCANNER_ENABLED
+#ifndef AP_ODIDSCANNER_ENABLED
+// default to off. Enabled in hwdef.dat
+#define AP_ODIDSCANNER_ENABLED 0
+#endif
+
+#if AP_ODIDSCANNER_ENABLED
+/*#include <cstdint>*/
+/*#define ODID_SCANNER_ENABLED 1*/
+/*#ifdef ODID_SCANNER_ENABLED*/
 
 #include "AP_Common/AP_Common.h"
 #include <AP_Math/AP_Math.h>
 #include <AP_Param/AP_Param.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Common/Location.h>
+#include "AP_ODIDScanner_utils.h"
 
-extern bool mac_eq(uint8_t a[6], uint8_t b[6]);
 
 
 struct Loc : Location {
@@ -118,7 +124,7 @@ class AP_ODIDScanner
 
     mavlink_uav_found_t found_msg;
     mavlink_channel_t _chan;
-    AP_HAL::UARTDriver* _port;
+    /*AP_HAL::UARTDriver* _port;*/
     bool _initialised;
     uint32_t last_send_ms;
     uint32_t last_dev_hb_ms;
@@ -133,4 +139,4 @@ class AP_ODIDScanner
 };
 
 
-#endif
+#endif // AP_ODIDSCANNER_ENABLED
diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner_config.h b/libraries/AP_ODIDScanner/AP_ODIDScanner_config.h
@@ -0,0 +1,8 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_ODIDSCANNER_ENABLED
+// default to off. Enabled in hwdef.dat
+#define AP_ODIDSCANNER_ENABLED 1
+#endif
diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner_utils.cpp b/libraries/AP_ODIDScanner/AP_ODIDScanner_utils.cpp
@@ -0,0 +1,10 @@
+#include"AP_ODIDScanner_utils.h"
+
+bool mac_eq(uint8_t a[6], uint8_t b[6]) {
+    return a[0] == b[0] &&
+           a[1] == b[1] &&
+           a[2] == b[2] &&
+           a[3] == b[3] &&
+           a[4] == b[4] &&
+           a[5] == b[5];
+}
diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner_utils.h b/libraries/AP_ODIDScanner/AP_ODIDScanner_utils.h
@@ -0,0 +1,4 @@
+#pragma once
+#include<cstdint>
+
+bool mac_eq(uint8_t a[6], uint8_t b[6]);
diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -266,7 +266,9 @@ void AP_Vehicle::setup()
 #if AP_OPENDRONEID_ENABLED
     opendroneid.init();
 #endif
+#if AP_ODIDSCANNER_ENABLED
     odidscanner.init();
+#endif
 
 // init EFI monitoring
 #if HAL_EFI_ENABLED
@@ -398,7 +400,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_OpenDroneID, &vehicle.opendroneid,  update,                   10,  50, 236),
 #endif
 // test comment...
+#if AP_ODIDSCANNER_ENABLED
     SCHED_TASK_CLASS(AP_ODIDScanner,&vehicle.odidscanner, update, 10, 50, 237),
+#endif
 #if OSD_ENABLED
     SCHED_TASK(publish_osd_info, 1, 10, 240),
 #endif
@@ -834,4 +838,4 @@ AP_Vehicle *vehicle()
     return AP_Vehicle::get_singleton();
 }
 
-};
+};
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -327,7 +327,9 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     AP_OpenDroneID opendroneid;
 #endif
 public:
+#if AP_ODIDSCANNER_ENABLED
     AP_ODIDScanner odidscanner;
+#endif
 
 #if HAL_MSP_ENABLED
     AP_MSP msp;

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4016,7 +4016,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
 #endif
         break;
 
-// #if AP_OPENDRONEID_ENABLED
+#if AP_ODIDSCANNER_ENABLED
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_ARM_STATUS:
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_OPERATOR_ID:
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_SELF_ID:
@@ -4032,10 +4032,10 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
             AP::opendroneid().handle_msg(chan, msg);
         }
         break;
-// #endif
     case MAVLINK_MSG_ID_UAV_FOUND:
         AP::vehicle()->odidscanner.handle_msg(msg);
         break;
+#endif
 
 #if AP_SIGNED_FIRMWARE
     case MAVLINK_MSG_ID_SECURE_COMMAND:

diff --git a/wscript b/wscript
@@ -243,6 +243,9 @@ submodules at specific revisions.
     g.add_option('--enable-opendroneid', action='store_true',
                  default=False,
                  help="Enables OpenDroneID")
+    g.add_option('--enable-overrid', action='store_true',
+                 default=False,
+                 help="Enables OpenDroneID")
 
     g.add_option('--enable-check-firmware', action='store_true',
                  default=False,
@@ -895,4 +898,4 @@ class RsyncContext(LocalInstallContext):
         if 'RSYNC_DEST' not in tg.env:
             self.fatal('Destination for rsync not defined. Either pass --rsync-dest here or during configuration.')
 
-        tg.post()
+        tg.post()