Julian Oes
11 years ago
4 changed files with 458 additions and 217 deletions
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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 @@
@@ -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 |
||||
* 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. |
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* 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. |
||||
* |
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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 |
||||
* 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. |
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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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|
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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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