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navigator: API changes, reparing to move manual modes to navigator, WIP

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This commit is contained in:
Anton Babushkin
2014-06-29 14:09:22 +02:00
parent 12be974bd6
commit 0bf9c2a9b2
10 changed files with 87 additions and 86 deletions
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src/modules/navigator/mission.cpp
+21 -21
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@@ -54,8 +54,8 @@
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include "navigator.h"
#include "mission.h"
#include "navigator.h"
Mission::Mission(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
@@ -97,16 +97,14 @@ Mission::on_inactive()
}
void
Mission::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
Mission::on_activation()
{
set_mission_items(pos_sp_triplet);
set_mission_items();
}
bool
Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
void
Mission::on_active()
{
bool updated = false;
/* check if anything has changed */
bool onboard_updated;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
@@ -122,18 +120,18 @@ Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
/* reset mission items if needed */
if (onboard_updated || offboard_updated) {
set_mission_items(pos_sp_triplet);
updated = true;
set_mission_items();
_navigator->set_position_setpoint_triplet_updated();
}
/* lets check if we reached the current mission item */
if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
advance_mission();
set_mission_items(pos_sp_triplet);
updated = true;
}
set_mission_items();
return updated;
_navigator->set_position_setpoint_triplet_updated();
}
}
void
@@ -223,8 +221,10 @@ Mission::advance_mission()
}
void
Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
Mission::set_mission_items()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
set_previous_pos_setpoint(pos_sp_triplet);
/* try setting onboard mission item */
@@ -235,7 +235,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
"#audio: onboard mission running");
}
_mission_type = MISSION_TYPE_ONBOARD;
_navigator->set_can_loiter_at_sp(false);
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
/* try setting offboard mission item */
} else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) {
@@ -245,7 +245,8 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
"#audio: offboard mission running");
}
_mission_type = MISSION_TYPE_OFFBOARD;
_navigator->set_can_loiter_at_sp(false);
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
} else {
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_info(_navigator->get_mavlink_fd(),
@@ -255,12 +256,15 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
"#audio: no mission available");
}
_mission_type = MISSION_TYPE_NONE;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
set_loiter_item(pos_sp_triplet);
set_loiter_item(&_mission_item);
pos_sp_triplet->previous.valid = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
reset_mission_item_reached();
report_mission_finished();
}
@@ -279,7 +283,6 @@ Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current
&new_mission_item)) {
/* convert the current mission item and set it valid */
mission_item_to_position_setpoint(&new_mission_item, current_pos_sp);
current_pos_sp->valid = true;
reset_mission_item_reached();
@@ -306,7 +309,6 @@ Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *curren
if (read_mission_item(dm_current, true, &_current_offboard_mission_index, &new_mission_item)) {
/* convert the current mission item and set it valid */
mission_item_to_position_setpoint(&new_mission_item, current_pos_sp);
current_pos_sp->valid = true;
reset_mission_item_reached();
@@ -330,7 +332,6 @@ Mission::get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp)
if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, &new_mission_item)) {
/* convert next mission item to position setpoint */
mission_item_to_position_setpoint(&new_mission_item, next_pos_sp);
next_pos_sp->valid = true;
return;
}
}
@@ -358,7 +359,6 @@ Mission::get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp)
if (read_mission_item(dm_current, false, &next_temp_mission_index, &new_mission_item)) {
/* convert next mission item to position setpoint */
mission_item_to_position_setpoint(&new_mission_item, next_pos_sp);
next_pos_sp->valid = true;
return;
}
}