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Move MISSION_STATE read/write from mavlink to navigator and commander

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This commit is contained in:
Anton Babushkin
2014-06-13 23:40:48 +02:00
parent d84cbd008c
commit 91b590ef58
6 changed files with 80 additions and 118 deletions
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src/modules/navigator/mission.cpp
+33
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@@ -430,6 +430,37 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
return false;
}
void
Mission::save_offboard_mission_state()
{
mission_s mission_state;
/* lock MISSION_STATE item */
dm_lock(DM_KEY_MISSION_STATE);
/* read current state */
int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));
/* check if state actually changed to save flash write cycles */
if (read_res != sizeof(mission_s) || mission_state.dataman_id != _offboard_mission.dataman_id ||
mission_state.count != _offboard_mission.count ||
mission_state.current_index != _current_offboard_mission_index) {
mission_state.dataman_id = _offboard_mission.dataman_id;
mission_state.count = _offboard_mission.count;
mission_state.current_index = _current_offboard_mission_index;
/* write modifyed state only if changed */
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "error saving mission state");
}
}
/* unlock MISSION_STATE item */
dm_unlock(DM_KEY_MISSION_STATE);
}
void
Mission::report_mission_item_reached()
{
@@ -445,6 +476,8 @@ Mission::report_current_offboard_mission_item()
{
_mission_result.index_current_mission = _current_offboard_mission_index;
publish_mission_result();
save_offboard_mission_state();
}
void