mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 16:56:25 +08:00
Navigator: Moved mission stuff in separate class
This commit is contained in:
Julian Oes
@@ -38,6 +38,7 @@
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MODULE_COMMAND = navigator
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SRCS = navigator_main.cpp \
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navigator_params.c
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navigator_params.c \
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navigator_mission.cpp
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INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,234 @@
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/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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* Author: @author Julian Oes <joes@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file navigator_mission.cpp
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* Helper class to access missions
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*/
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// #include <stdio.h>
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// #include <stdlib.h>
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// #include <string.h>
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// #include <unistd.h>
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#include <stdlib.h>
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#include <dataman/dataman.h>
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#include "navigator_mission.h"
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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Mission::Mission() :
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_current_offboard_mission_index(0),
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_current_onboard_mission_index(0),
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_offboard_mission_item_count(0),
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_onboard_mission_item_count(0),
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_onboard_mission_allowed(false),
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_current_mission_type(MISSION_TYPE_NONE)
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{}
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Mission::~Mission()
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{
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}
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void
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Mission::set_current_offboard_mission_index(int new_index)
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{
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if (new_index != -1) {
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_current_offboard_mission_index = (unsigned)new_index;
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}
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}
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void
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Mission::set_current_onboard_mission_index(int new_index)
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{
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if (new_index != -1) {
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_current_onboard_mission_index = (unsigned)new_index;
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}
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}
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void
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Mission::set_offboard_mission_count(unsigned new_count)
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{
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_offboard_mission_item_count = new_count;
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}
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void
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Mission::set_onboard_mission_count(unsigned new_count)
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{
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_onboard_mission_item_count = new_count;
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}
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void
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Mission::set_onboard_mission_allowed(bool allowed)
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{
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_onboard_mission_allowed = allowed;
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}
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bool
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Mission::current_mission_available()
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{
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return (current_onboard_mission_available() || current_offboard_mission_available());
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}
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bool
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Mission::next_mission_available()
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{
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return (next_onboard_mission_available() || next_offboard_mission_available());
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}
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int
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Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool *onboard, unsigned *index)
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{
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/* try onboard mission first */
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if (current_onboard_mission_available()) {
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const ssize_t len = sizeof(struct mission_item_s);
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if (dm_read(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index, new_mission_item, len) != len) {
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/* not supposed to happen unless the datamanager can't access the SD card, etc. */
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return ERROR;
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}
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_current_mission_type = MISSION_TYPE_ONBOARD;
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*onboard = true;
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*index = _current_onboard_mission_index;
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/* otherwise fallback to offboard */
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} else if (current_offboard_mission_available()) {
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const ssize_t len = sizeof(struct mission_item_s);
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if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, _current_offboard_mission_index, new_mission_item, len) != len) {
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/* not supposed to happen unless the datamanager can't access the SD card, etc. */
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_current_mission_type = MISSION_TYPE_NONE;
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return ERROR;
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}
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_current_mission_type = MISSION_TYPE_OFFBOARD;
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*onboard = false;
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*index = _current_offboard_mission_index;
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} else {
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/* happens when no more mission items can be added as a next item */
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_current_mission_type = MISSION_TYPE_NONE;
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return ERROR;
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}
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return OK;
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}
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int
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Mission::get_next_mission_item(struct mission_item_s *new_mission_item)
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{
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/* try onboard mission first */
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if (next_onboard_mission_available()) {
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const ssize_t len = sizeof(struct mission_item_s);
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if (dm_read(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index + 1, new_mission_item, len) != len) {
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/* not supposed to happen unless the datamanager can't access the SD card, etc. */
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return ERROR;
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}
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/* otherwise fallback to offboard */
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} else if (next_offboard_mission_available()) {
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const ssize_t len = sizeof(struct mission_item_s);
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if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, _current_offboard_mission_index + 1, new_mission_item, len) != len) {
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/* not supposed to happen unless the datamanager can't access the SD card, etc. */
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return ERROR;
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}
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} else {
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/* happens when no more mission items can be added as a next item */
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return ERROR;
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}
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return OK;
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}
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bool
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Mission::current_onboard_mission_available()
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{
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return _onboard_mission_item_count > _current_onboard_mission_index && _onboard_mission_allowed;
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}
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bool
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Mission::current_offboard_mission_available()
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{
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return _offboard_mission_item_count > _current_offboard_mission_index;
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}
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bool
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Mission::next_onboard_mission_available()
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{
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unsigned next = 0;
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if (_current_mission_type != MISSION_TYPE_ONBOARD) {
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next = 1;
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}
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return _onboard_mission_item_count > (_current_onboard_mission_index + next) && _onboard_mission_allowed;
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}
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bool
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Mission::next_offboard_mission_available()
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{
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unsigned next = 0;
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if (_current_mission_type != MISSION_TYPE_OFFBOARD) {
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next = 1;
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}
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return _offboard_mission_item_count > (_current_offboard_mission_index + next);
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}
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void
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Mission::move_to_next()
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{
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switch (_current_mission_type) {
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case MISSION_TYPE_ONBOARD:
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_current_onboard_mission_index++;
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break;
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case MISSION_TYPE_OFFBOARD:
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_current_offboard_mission_index++;
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break;
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case MISSION_TYPE_NONE:
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default:
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break;
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}
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}
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@@ -0,0 +1,95 @@
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/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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* Author: @author Julian Oes <joes@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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||||
* are met:
|
||||
*
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||||
* 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
|
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* the documentation and/or other materials provided with the
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* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
||||
*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* 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
|
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file navigator_mission.h
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* Helper class to access missions
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*/
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#ifndef NAVIGATOR_MISSION_H
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#define NAVIGATOR_MISSION_H
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#include <uORB/topics/mission.h>
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class __EXPORT Mission
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{
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public:
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/**
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* Constructor
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*/
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Mission();
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/**
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* Destructor, also kills the sensors task.
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*/
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~Mission();
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void set_current_offboard_mission_index(int new_index);
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void set_current_onboard_mission_index(int new_index);
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void set_offboard_mission_count(unsigned new_count);
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void set_onboard_mission_count(unsigned new_count);
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void set_onboard_mission_allowed(bool allowed);
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bool current_mission_available();
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bool next_mission_available();
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int get_current_mission_item(struct mission_item_s *mission_item, bool *onboard, unsigned *index);
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int get_next_mission_item(struct mission_item_s *mission_item);
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void move_to_next();
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void add_home_pos(struct mission_item_s *new_mission_item);
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private:
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bool current_onboard_mission_available();
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bool current_offboard_mission_available();
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bool next_onboard_mission_available();
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bool next_offboard_mission_available();
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unsigned _current_offboard_mission_index;
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unsigned _current_onboard_mission_index;
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unsigned _offboard_mission_item_count; /** number of offboard mission items available */
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unsigned _onboard_mission_item_count; /** number of onboard mission items available */
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bool _onboard_mission_allowed;
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enum {
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MISSION_TYPE_NONE,
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MISSION_TYPE_ONBOARD,
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MISSION_TYPE_OFFBOARD,
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} _current_mission_type;
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};
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#endif
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