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dataman: extend for double storage geofence and safe points

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This commit is contained in:
Konrad
2024-01-30 11:25:37 -05:00
committed by Daniel Agar
parent dfa56d474a
commit 50f1abaef1
8 changed files with 79 additions and 60 deletions
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src/modules/mavlink/mavlink_mission.cpp
+8 -8
View File
@@ -110,7 +110,7 @@ MavlinkMissionManager::load_geofence_stats()
{
mission_stats_entry_s stats;
// initialize fence points count
bool success = _dataman_client.readSync(DM_KEY_FENCE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats),
bool success = _dataman_client.readSync(DM_KEY_FENCE_POINTS_STATE, 0, reinterpret_cast<uint8_t *>(&stats),
sizeof(mission_stats_entry_s));
if (success) {
@@ -126,7 +126,7 @@ MavlinkMissionManager::load_safepoint_stats()
{
mission_stats_entry_s stats;
// initialize safe points count
bool success = _dataman_client.readSync(DM_KEY_SAFE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats),
bool success = _dataman_client.readSync(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast<uint8_t *>(&stats),
sizeof(mission_stats_entry_s));
if (success) {
@@ -182,7 +182,7 @@ MavlinkMissionManager::update_geofence_count(unsigned count, uint32_t crc32)
stats.opaque_id = crc32;
/* update stats in dataman */
bool success = _dataman_client.writeSync(DM_KEY_FENCE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats),
bool success = _dataman_client.writeSync(DM_KEY_FENCE_POINTS_STATE, 0, reinterpret_cast<uint8_t *>(&stats),
sizeof(mission_stats_entry_s));
if (success) {
@@ -214,7 +214,7 @@ MavlinkMissionManager::update_safepoint_count(unsigned count, uint32_t crc32)
stats.opaque_id = crc32;
/* update stats in dataman */
bool success = _dataman_client.writeSync(DM_KEY_SAFE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats),
bool success = _dataman_client.writeSync(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast<uint8_t *>(&stats),
sizeof(mission_stats_entry_s));
if (success) {
@@ -303,7 +303,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
case MAV_MISSION_TYPE_FENCE: { // Read a geofence point
mission_fence_point_s mission_fence_point;
read_success = _dataman_client.readSync(DM_KEY_FENCE_POINTS, seq + 1,
read_success = _dataman_client.readSync(DM_KEY_FENCE_POINTS_STATE, seq,
reinterpret_cast<uint8_t *>(&mission_fence_point), sizeof(mission_fence_point_s));
mission_item.nav_cmd = mission_fence_point.nav_cmd;
@@ -323,7 +323,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
break;
case MAV_MISSION_TYPE_RALLY: { // Read a safe point / rally point
read_success = _dataman_client.readSync(DM_KEY_SAFE_POINTS, seq + 1, reinterpret_cast<uint8_t *>(&mission_item),
read_success = _dataman_client.readSync(DM_KEY_SAFE_POINTS_0, seq, reinterpret_cast<uint8_t *>(&mission_item),
sizeof(mission_item_s));
}
break;
@@ -1152,7 +1152,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
mission_fence_point.frame = mission_item.frame;
if (!check_failed) {
write_failed = !_dataman_client.writeSync(DM_KEY_FENCE_POINTS, wp.seq + 1,
write_failed = !_dataman_client.writeSync(DM_KEY_FENCE_POINTS_STATE, wp.seq,
reinterpret_cast<uint8_t *>(&mission_fence_point), sizeof(mission_fence_point_s));
}
@@ -1160,7 +1160,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
break;
case MAV_MISSION_TYPE_RALLY: { // Write a safe point / rally point
write_failed = !_dataman_client.writeSync(DM_KEY_SAFE_POINTS, wp.seq + 1,
write_failed = !_dataman_client.writeSync(DM_KEY_SAFE_POINTS_0, wp.seq,
reinterpret_cast<uint8_t *>(&mission_item), sizeof(mission_item_s), 2_s);
}
break;
src/modules/mavlink/mavlink_mission.h
+2 -2
View File
@@ -148,8 +148,8 @@ private:
2; ///< Error count limit before stopping to report FS errors
static constexpr uint16_t MAX_COUNT[] = {
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
DM_KEY_FENCE_POINTS_MAX - 1,
DM_KEY_SAFE_POINTS_MAX - 1
DM_KEY_FENCE_POINTS_MAX,
DM_KEY_SAFE_POINTS_MAX
}; /**< Maximum number of mission items for each type
(fence & safe points use the first item for the stats) */