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eyeam3bkueng
eyeam3
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modes: make available modes user selectable with a registration option
Some modes should only be run within the context of a mode executor and the user should not be able to select them in the GCS. With this change, the external component registration request can be used to set if a mode is selectable or not.
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9 files changed

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9 files changed

+155
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lines changed

‎msg/px4_msgs_old/msg/RegisterExtComponentReplyV0.msg‎

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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 request_id # ID from the request
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char[25] name # name from the request
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uint16 px4_ros2_api_version
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bool success
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int8 arming_check_id # arming check registration ID (-1 if invalid)
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int8 mode_id # assigned mode ID (-1 if invalid)
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int8 mode_executor_id # assigned mode executor ID (-1 if invalid)
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uint8 ORB_QUEUE_LENGTH = 2

‎msg/px4_msgs_old/msg/RegisterExtComponentRequestV0.msg‎

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# Request to register an external component
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 request_id # ID, set this to a random value
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char[25] name # either the requested mode name, or component name
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uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
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uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION
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# Components to be registered
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bool register_arming_check
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bool register_mode # registering a mode also requires arming_check to be set
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bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor)
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bool enable_replace_internal_mode # set to true if an internal mode should be replaced
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uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
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bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
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uint8 ORB_QUEUE_LENGTH = 2

‎msg/translation_node/translations/all_translations.h‎

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@@ -12,6 +12,8 @@
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#include "translation_battery_status_v1.h"
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#include "translation_event_v1.h"
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#include "translation_home_position_v1.h"
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#include "translation_register_ext_component_reply_v1.h"
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#include "translation_register_ext_component_request_v1.h"
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#include "translation_vehicle_attitude_setpoint_v1.h"
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#include "translation_vehicle_status_v1.h"
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#include "translation_vehicle_local_position_v1.h"

‎msg/translation_node/translations/translation_register_ext_component_reply_v1.h‎

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/****************************************************************************
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* Copyright (c) 2025 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate RegisterExtComponentReply v0 <--> v1
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#include <px4_msgs_old/msg/register_ext_component_reply_v0.hpp>
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#include <px4_msgs/msg/register_ext_component_reply.hpp>
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class RegisterExtComponentReplyV1Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::RegisterExtComponentReplyV0;
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static_assert(MessageOlder::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::msg::RegisterExtComponentReply;
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static_assert(MessageNewer::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "fmu/out/register_ext_component_reply";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.request_id = msg_older.request_id;
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msg_newer.name = msg_older.name;
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msg_newer.px4_ros2_api_version = msg_older.px4_ros2_api_version;
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msg_newer.success = msg_older.success;
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msg_newer.arming_check_id = msg_older.arming_check_id;
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msg_newer.mode_id = msg_older.mode_id;
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msg_newer.mode_executor_id = msg_older.mode_executor_id;
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msg_newer.not_user_selectable = false;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.request_id = msg_newer.request_id;
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msg_older.name = msg_newer.name;
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msg_older.px4_ros2_api_version = msg_newer.px4_ros2_api_version;
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msg_older.success = msg_newer.success;
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msg_older.arming_check_id = msg_newer.arming_check_id;
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msg_older.mode_id = msg_newer.mode_id;
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msg_older.mode_executor_id = msg_newer.mode_executor_id;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(RegisterExtComponentReplyV1Translation);

‎msg/translation_node/translations/translation_register_ext_component_request_v1.h‎

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/****************************************************************************
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* Copyright (c) 2025 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate RegisterExtComponentRequest v0 <--> v1
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#include <px4_msgs_old/msg/register_ext_component_request_v0.hpp>
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#include <px4_msgs/msg/register_ext_component_request.hpp>
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class RegisterExtComponentRequestV1Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::RegisterExtComponentRequestV0;
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static_assert(MessageOlder::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::msg::RegisterExtComponentRequest;
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static_assert(MessageNewer::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "fmu/in/register_ext_component_request";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.request_id = msg_older.request_id;
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msg_newer.name = msg_older.name;
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msg_newer.px4_ros2_api_version = msg_older.px4_ros2_api_version;
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msg_newer.register_arming_check = msg_older.register_arming_check;
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msg_newer.register_mode = msg_older.register_mode;
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msg_newer.register_mode_executor = msg_older.register_mode_executor;
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msg_newer.enable_replace_internal_mode = msg_older.enable_replace_internal_mode;
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msg_newer.replace_internal_mode = msg_older.replace_internal_mode;
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msg_newer.activate_mode_immediately = msg_older.activate_mode_immediately;
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msg_newer.not_user_selectable = false;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.request_id = msg_newer.request_id;
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msg_older.name = msg_newer.name;
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msg_older.px4_ros2_api_version = msg_newer.px4_ros2_api_version;
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msg_older.register_arming_check = msg_newer.register_arming_check;
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msg_older.register_mode = msg_newer.register_mode;
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msg_older.register_mode_executor = msg_newer.register_mode_executor;
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msg_older.enable_replace_internal_mode = msg_newer.enable_replace_internal_mode;
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msg_older.replace_internal_mode = msg_newer.replace_internal_mode;
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msg_older.activate_mode_immediately = msg_newer.activate_mode_immediately;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(RegisterExtComponentRequestV1Translation);

‎msg/versioned/RegisterExtComponentReply.msg‎

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1-
uint32 MESSAGE_VERSION = 0
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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@@ -12,4 +12,6 @@ int8 arming_check_id # arming check registration ID (-1 if invalid)
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int8 mode_id # assigned mode ID (-1 if invalid)
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int8 mode_executor_id # assigned mode executor ID (-1 if invalid)
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bool not_user_selectable # mode cannot be selected by the user
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uint8 ORB_QUEUE_LENGTH = 2

‎msg/versioned/RegisterExtComponentRequest.msg‎

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# Request to register an external component
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uint32 MESSAGE_VERSION = 0
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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@@ -19,6 +19,6 @@ bool register_mode_executor # registering an executor also requires a mod
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bool enable_replace_internal_mode # set to true if an internal mode should be replaced
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uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
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bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
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bool not_user_selectable # mode cannot be selected by the user
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uint8 ORB_QUEUE_LENGTH = 2

‎src/modules/commander/ModeManagement.cpp‎

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static_assert(sizeof(request.name) == sizeof(reply.name), "size mismatch");
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memcpy(reply.name, request.name, sizeof(request.name));
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reply.request_id = request.request_id;
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reply.not_user_selectable = request.not_user_selectable;
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reply.px4_ros2_api_version = register_ext_component_request_s::LATEST_PX4_ROS2_API_VERSION;
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// validate

‎src/modules/mavlink/streams/AVAILABLE_MODES.hpp‎

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#include <uORB/topics/register_ext_component_reply.h>
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#include <lib/modes/standard_modes.hpp>
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#include <lib/modes/ui.hpp>
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#include <limits.h>
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class MavlinkStreamAvailableModes : public MavlinkStream
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{
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char name[sizeof(register_ext_component_reply_s::name)] {};
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};
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ExternalModeName *_external_mode_names{nullptr};
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uint8_t _not_user_selectable_mask{0};
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static_assert(MAX_NUM_EXTERNAL_MODES <= (sizeof(_not_user_selectable_mask) * CHAR_BIT), "Mask too small");
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::Subscription _register_ext_component_reply_sub{ORB_ID(register_ext_component_reply)};
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} else if (_external_mode_names) {
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strncpy(available_modes.mode_name, _external_mode_names[external_mode_index].name, sizeof(available_modes.mode_name));
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available_modes.mode_name[sizeof(available_modes.mode_name) - 1] = '\0';
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if ((_not_user_selectable_mask & (1 << external_mode_index)) > 0) {
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available_modes.properties |= MAV_MODE_PROPERTY_NOT_USER_SELECTABLE;
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}
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}
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} else { // Internal
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if (_external_mode_names && mode_index < MAX_NUM_EXTERNAL_MODES) {
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memcpy(_external_mode_names[mode_index].name, reply.name, sizeof(ExternalModeName::name));
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if (reply.not_user_selectable) {
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_not_user_selectable_mask |= (1 << mode_index);
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} else {
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_not_user_selectable_mask &= ~(1 << mode_index);
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}
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}
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dynamic_update = true;

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