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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
143 lines
3.9 KiB
C
143 lines
3.9 KiB
C
/*
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* Copyright (C) 2013 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/** @file modules/mission/mission.h
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* @brief mission planner library
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*
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* Provide the generic interface for the mission control
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* Handle the parsing of datalink messages
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*/
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#ifndef MISSION_H
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#define MISSION_H
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#include "std.h"
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#include "math/pprz_geodetic_float.h"
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enum MissionType {
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MissionWP,
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MissionCircle,
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MissionSegment,
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MissionPath,
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MissionSurvey,
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MissionEight,
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MissionOval
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};
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enum MissionInsertMode {
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Append, ///< add at the last position
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Prepend, ///< add before the current element
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ReplaceCurrent, ///< replace current element
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ReplaceAll ///< remove all elements and add the new one
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};
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struct _mission_wp {
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struct EnuCoor_f wp;
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};
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struct _mission_circle {
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struct EnuCoor_f center;
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float radius;
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};
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struct _mission_segment {
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struct EnuCoor_f from;
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struct EnuCoor_f to;
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};
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#define MISSION_PATH_NB 5
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struct _mission_path {
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struct EnuCoor_f path[MISSION_PATH_NB];
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uint8_t path_idx;
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uint8_t nb;
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};
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struct _mission_element {
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enum MissionType type;
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union {
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struct _mission_wp mission_wp;
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struct _mission_circle mission_circle;
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struct _mission_segment mission_segment;
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struct _mission_path mission_path;
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} element;
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float duration; ///< time to spend in the element (<= 0 to disable)
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};
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#define MISSION_ELEMENT_NB 20
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struct _mission {
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struct _mission_element elements[MISSION_ELEMENT_NB];
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float element_time; ///< time in second spend in the current element
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uint8_t insert_idx; ///< inserstion index
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uint8_t current_idx; ///< current mission element index
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};
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extern struct _mission mission;
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/** Init mission structure
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*/
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extern void mission_init(void);
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/** Insert a mission element according to the insertion mode
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* @param insert insertion mode
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* @param element mission element structure
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* @return return TRUE if insertion is succesful, FALSE otherwise
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*/
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extern bool_t mission_insert(enum MissionInsertMode insert, struct _mission_element * element);
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/** Get current mission element
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* @return return a pointer to the next mission element or NULL if no more elements
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*/
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extern struct _mission_element * mission_get(void);
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/** Run mission
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*
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* This function should be implemented into a dedicated file since
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* navigation functions are different for different firmwares
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*
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* Currently, this function should be called from the flight plan
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*
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* @return return TRUE when the mission is running, FALSE when it is finished
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*/
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extern int mission_run();
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/** Parsing functions called when a mission message is received
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*/
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extern int mission_parse_GOTO_WP(void);
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extern int mission_parse_GOTO_WP_LLA(void);
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extern int mission_parse_CIRCLE(void);
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extern int mission_parse_CIRCLE_LLA(void);
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extern int mission_parse_SEGMENT(void);
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extern int mission_parse_SEGMENT_LLA(void);
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extern int mission_parse_PATH(void);
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extern int mission_parse_PATH_LLA(void);
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extern int mission_parse_SURVEY(void);
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extern int mission_parse_SURVEY_LLA(void);
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extern int mission_parse_GOTO_MISSION(void);
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extern int mission_parse_NEXT_MISSION(void);
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extern int mission_parse_END_MISSION(void);
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/** Status report messages
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* @todo
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*/
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#endif // MISSION
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