CollisionPrevention.hpp

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#pragma once

#include <px4_module_params.h>
#include <float.h>
#include <matrix/matrix/math.hpp>
#include <uORB/topics/obstacle_distance.h>
#include <uORB/topics/collision_constraints.h>
#include <mathlib/mathlib.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/mavlink_log.h>
#include <uORB/uORB.h>
#include <systemlib/mavlink_log.h>
#include <lib/FlightTasks/tasks/FlightTask/SubscriptionArray.hpp>

class CollisionPrevention : public ModuleParams
{
public:
    CollisionPrevention(ModuleParams *parent);

    ~CollisionPrevention();

    bool initializeSubscriptions(SubscriptionArray &subscription_array);

    bool is_active() { return _param_mpc_col_prev_d.get() > 0; }

    void modifySetpoint(matrix::Vector2f &original_setpoint, const float max_speed);

private:

    bool _interfering = false;      
    orb_advert_t _constraints_pub{nullptr};     
    orb_advert_t _mavlink_log_pub{nullptr};     
    uORB::Subscription<obstacle_distance_s> *_sub_obstacle_distance{nullptr}; 
    static constexpr uint64_t RANGE_STREAM_TIMEOUT_US = 500000;
    static constexpr uint64_t MESSAGE_THROTTLE_US = 5000000;

    hrt_abstime _last_message;

    matrix::Vector2f _move_constraints_x_normalized;
    matrix::Vector2f _move_constraints_y_normalized;
    matrix::Vector2f _move_constraints_x;
    matrix::Vector2f _move_constraints_y;

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::MPC_COL_PREV_D>) _param_mpc_col_prev_d 
    )

    void update();

    void update_range_constraints();

    void reset_constraints();

    void publish_constraints(const matrix::Vector2f &original_setpoint, const matrix::Vector2f &adapted_setpoint);

};