tiiuae · pussuw · Dec 12, 2023 · Jun 8, 2023 · Jun 8, 2023 · Jun 8, 2023
diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
@@ -362,7 +362,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
 
                     // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
 
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
@@ -449,7 +449,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
 
                     // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
                   }
                 }
                 stage("status") {

diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
@@ -17,6 +17,7 @@
 # @maintainer Andreas Antener <[email protected]>
 #
 # @board bitcraze_crazyflie exclude
+# @board diatone_mamba-f405-mk2 exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
@@ -13,6 +13,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
 

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
@@ -13,6 +13,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
 

diff --git a/Tools/HIL/run_nsh_cmd.py b/Tools/HIL/run_nsh_cmd.py
@@ -39,7 +39,7 @@ def print_line(line):
         print('{0}'.format(line), end='')
 
 
-def do_nsh_cmd(port_url, baudrate, cmd):
+def do_nsh_cmd(port_url, baudrate, cmd, ignore_stdout_errors=False):
     ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
 
     timeout_start = time.monotonic()
@@ -106,7 +106,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):
             if success_cmd in serial_line:
                 sys.exit(return_code)
             else:
-                if "ERROR " in serial_line:
+                if "ERROR " in serial_line and not ignore_stdout_errors:
                     return_code = -1
 
                 print_line(serial_line)
@@ -148,14 +148,16 @@ def main():
     parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
     parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
     parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
+    parser.add_argument('--ignore-stdout-errors', action='store_true',
+                        help='Ignore errors printed to stdout')
     args = parser.parse_args()
 
     tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
     port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
 
     print("pyserial url: {0}".format(port_url))
 
-    do_nsh_cmd(port_url, args.baudrate, args.cmd)
+    do_nsh_cmd(port_url, args.baudrate, args.cmd, args.ignore_stdout_errors)
 
 if __name__ == "__main__":
    main()
diff --git a/boards/diatone/mamba-f405-mk2/default.px4board b/boards/diatone/mamba-f405-mk2/default.px4board
@@ -36,7 +36,6 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y

diff --git a/boards/px4/fmu-v4/test.px4board b/boards/px4/fmu-v4/test.px4board
@@ -1,4 +1,6 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n

diff --git a/boards/px4/fmu-v5/test.px4board b/boards/px4/fmu-v5/test.px4board
@@ -1,4 +1,7 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_BATT_SMBUS=n
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
@@ -14,3 +17,5 @@ CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_DRIVERS_UAVCAN=n
+
diff --git a/boards/px4/fmu-v5x/test.px4board b/boards/px4/fmu-v5x/test.px4board
@@ -2,6 +2,8 @@ CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_INS=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n

diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
@@ -12,7 +12,6 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y

diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
@@ -60,6 +60,8 @@ set(msg_files
 	CollisionReport.msg
 	ControlAllocatorStatus.msg
 	Cpuload.msg
+	DatamanRequest.msg
+	DatamanResponse.msg
 	DebugArray.msg
 	DebugKeyValue.msg
 	DebugValue.msg

diff --git a/msg/DatamanRequest.msg b/msg/DatamanRequest.msg
@@ -0,0 +1,8 @@
+uint64 timestamp	# time since system start (microseconds)
+
+uint8 client_id
+uint8 request_type	# id/read/write/clear
+uint8 item			# dm_item_t
+uint32 index
+uint8[56] data
+uint32 data_length
diff --git a/msg/DatamanResponse.msg b/msg/DatamanResponse.msg
@@ -0,0 +1,15 @@
+uint64 timestamp	# time since system start (microseconds)
+
+uint8 client_id
+uint8 request_type	# id/read/write/clear
+uint8 item			# dm_item_t
+uint32 index
+uint8[56] data
+
+uint8 STATUS_SUCCESS = 0
+uint8 STATUS_FAILURE_ID_ERR = 1
+uint8 STATUS_FAILURE_NO_DATA = 2
+uint8 STATUS_FAILURE_READ_FAILED = 3
+uint8 STATUS_FAILURE_WRITE_FAILED = 4
+uint8 STATUS_FAILURE_CLEAR_FAILED = 5
+uint8 status
diff --git a/msg/Mission.msg b/msg/Mission.msg
@@ -3,3 +3,7 @@ uint8 dataman_id	# default 0, there are two offboard storage places in the datam
 
 uint16 count		# count of the missions stored in the dataman
 int32 current_seq	# default -1, start at the one changed latest
+
+int16 mission_update_counter # indicates updates to the mission, reload from dataman if increased
+int16 geofence_update_counter # indicates updates to the geofence, reload from dataman if increased
+int16 safe_points_update_counter # indicates updates to the safe points, reload from dataman if increased
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
@@ -45,6 +45,7 @@ add_subdirectory(controllib EXCLUDE_FROM_ALL)
 add_subdirectory(conversion EXCLUDE_FROM_ALL)
 add_subdirectory(crc EXCLUDE_FROM_ALL)
 add_subdirectory(crypto EXCLUDE_FROM_ALL)
+add_subdirectory(dataman_client EXCLUDE_FROM_ALL)
 add_subdirectory(drivers EXCLUDE_FROM_ALL)
 add_subdirectory(field_sensor_bias_estimator EXCLUDE_FROM_ALL)
 add_subdirectory(geo EXCLUDE_FROM_ALL)

diff --git a/src/lib/dataman_client/CMakeLists.txt b/src/lib/dataman_client/CMakeLists.txt
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(dataman_client DatamanClient.cpp)