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[flight plans] add call_once alias (#1675)

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- `<call_once fun="x"/>` is an alias for `<call fun="x" loop="false"/>`

The idea is to make it easier and more clear how to call functions that do not return a bool and should only be called once.
This commit is contained in:
Felix Ruess
2016-05-24 17:51:13 +02:00
committed by Gautier Hattenberger
parent 06cffe2955
commit 0e4c2c9233
3 changed files with 32 additions and 15 deletions
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conf/flight_plans/flight_plan.dtd
+8 -3
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@@ -27,14 +27,14 @@
<!ELEMENT exceptions (exception*)>
<!ELEMENT blocks (block+)>
<!ELEMENT block (exception|while|heading|attitude|manual|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|home|path)*>
<!ELEMENT block (exception|while|heading|attitude|manual|go|xyz|set|call|call_once|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|home|path)*>
<!ELEMENT include (arg|with)*>
<!ELEMENT arg EMPTY>
<!ELEMENT with EMPTY>
<!ELEMENT while (exception|while|heading|attitude|manual|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|path)*>
<!ELEMENT for (exception|while|heading|attitude|manual|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|path)*>
<!ELEMENT while (exception|while|heading|attitude|manual|go|xyz|set|call|call_once|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|path)*>
<!ELEMENT for (exception|while|heading|attitude|manual|go|xyz|set|call|call_once|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|path)*>
<!ELEMENT exception EMPTY>
<!ELEMENT heading EMPTY>
<!ELEMENT attitude EMPTY>
@@ -43,6 +43,7 @@
<!ELEMENT xyz EMPTY>
<!ELEMENT set EMPTY>
<!ELEMENT call EMPTY>
<!ELEMENT call_once EMPTY>
<!ELEMENT circle EMPTY>
<!ELEMENT home EMPTY>
<!ELEMENT eight EMPTY>
@@ -216,6 +217,10 @@ until CDATA #IMPLIED
loop CDATA #IMPLIED
break CDATA #IMPLIED>
<!ATTLIST call_once
fun CDATA #REQUIRED
break CDATA #IMPLIED>
<!ATTLIST follow
ac_id CDATA #REQUIRED
distance CDATA #REQUIRED
conf/flight_plans/nav_modules.xml
+11 -11
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@@ -82,27 +82,27 @@
<circle radius="nav_radius" wp="MOB"/>
</block>
<block group="extra_pattern" name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<call fun="nav_line_setup()"/>
<call_once fun="nav_line_setup()"/>
<call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block>
<block group="extra_pattern" name="Survey S1-S3" strip_button="Survey (wp S1-S3)" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S3"/>
</block>
<block name="Bungee take-off">
<call fun="nav_bungee_takeoff_setup(WP_HOME)"/>
<call_once fun="nav_bungee_takeoff_setup(WP_HOME)"/>
<call fun="nav_bungee_takeoff_run()"/>
</block>
<block group="nav_pattern" name="Poly Survey" strip_button="Poly Survey">
<call fun="nav_survey_polygon_setup(WP_S1,5,80,30,10,50,GetAltRef()+60)"/>
<call_once fun="nav_survey_polygon_setup(WP_S1,5,80,30,10,50,GetAltRef()+60)"/>
<call fun="nav_survey_polygon_run()"/>
</block>
<block group="nav_pattern" name="Border line 1-2" strip_button="Border Line">
<call fun="nav_line_border_setup()"/>
<call_once fun="nav_line_border_setup()"/>
<call fun="nav_line_border_run(WP_1, WP_2, nav_radius)"/>
</block>
<block group="nav_pattern" name="Smooth nav (wp 1-2)" strip_button="Smooth nav">
<set value="gps.tow / 1000. + 60." var="snav_desired_tow"/>
<call fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
<call_once fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
<call fun="snav_circle1()"/>
<call fun="snav_route()"/>
<call fun="snav_circle2()"/>
@@ -111,30 +111,30 @@
<deroute block="Standby"/>
</block>
<block group="nav_pattern" name="Flower (wp 1-2)" strip_button="Flower">
<call fun="nav_flower_setup(WP_1, WP_2)"/>
<call_once fun="nav_flower_setup(WP_1, WP_2)"/>
<call fun="nav_flower_run()"/>
</block>
<block name="Poly survey osam">
<call fun="nav_survey_poly_osam_setup(WP_S1, 5, 100, -5)"/>
<call_once fun="nav_survey_poly_osam_setup(WP_S1, 5, 100, -5)"/>
<call fun="nav_survey_poly_osam_run()"/>
</block>
<block name="Poly survey osam dynamic">
<call fun="nav_survey_poly_osam_setup_towards(WP_S1, 0, 0, WP_S1_angle)"/>
<call_once fun="nav_survey_poly_osam_setup_towards(WP_S1, 0, 0, WP_S1_angle)"/>
<call fun="nav_survey_poly_osam_run()"/>
</block>
<block name="ZamboniSurvey">
<call fun="nav_survey_zamboni_setup(WP_1, WP_2, 200, 40, 7, 290)"/>
<call_once fun="nav_survey_zamboni_setup(WP_1, WP_2, 200, 40, 7, 290)"/>
<call fun="nav_survey_zamboni_run()"/>
</block>
<block name="Flight Line block">
<call fun="nav_line_osam_block_run(WP_S1, WP_S5, nav_radius, 30, 10)"/>
</block>
<block name="Vertical Raster">
<call fun="nav_vertical_raster_setup()"/>
<call_once fun="nav_vertical_raster_setup()"/>
<call fun="nav_vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
</block>
<block name="Spiral">
<call fun="nav_spiral_setup(WP_S1, WP_S2, 30, 10, 3)"/>
<call_once fun="nav_spiral_setup(WP_S1, WP_S2, 30, 10, 3)"/>
<call fun="nav_spiral_run()"/>
</block>
<block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
sw/tools/generators/gen_flight_plan.ml
+13 -1
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@@ -303,7 +303,7 @@ let rec index_stage = fun x ->
let l = List.map index_stage (Xml.children x) in
incr stage; (* To count the loop stage *)
Xml.Element (Xml.tag x, Xml.attribs x@["no", soi n], l)
| "return" | "goto" | "deroute" | "exit_block" | "follow" | "call" | "home"
| "return" | "goto" | "deroute" | "exit_block" | "follow" | "call" | "call_once" | "home"
| "heading" | "attitude" | "manual" | "go" | "stay" | "xyz" | "set" | "circle" ->
incr stage;
Xml.Element (Xml.tag x, Xml.attribs x@["no", soi !stage], Xml.children x)
@@ -579,6 +579,18 @@ let rec print_stage = fun index_of_waypoints x ->
end;
| _ -> failwith "FP: 'call' loop attribute must be TRUE or FALSE"
end
| "call_once" ->
(* call_once is an alias for <call fun="x" loop="false"/> *)
stage ();
let statement = ExtXml.attrib x "fun" in
(* by default, go to next stage immediately *)
let break = String.uppercase (ExtXml.attrib_or_default x "break" "FALSE") in
lprintf "%s;\n" statement;
begin match break with
| "TRUE" -> lprintf "NextStageAndBreak();\n";
| "FALSE" -> lprintf "NextStage();\n";
| _ -> failwith "FP: 'call_once' break attribute must be TRUE or FALSE";
end;
| "survey_rectangle" ->
let grid = parsed_attrib x "grid"
and wp1 = get_index_waypoint (ExtXml.attrib x "wp1") index_of_waypoints