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navigator: lot's of cleanup (WIP)
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Julian Oes
@@ -0,0 +1,297 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
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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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*
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* Helper class to access missions
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#include <string.h>
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#include <stdlib.h>
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#include <dataman/dataman.h>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/mission_result.h>
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#include "mission.h"
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Mission::Mission() :
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_offboard_dataman_id(-1),
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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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_mission_result_pub(-1),
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_mission_result({})
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{
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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_offboard_dataman_id(const int new_id)
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{
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_offboard_dataman_id = new_id;
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}
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void
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Mission::set_offboard_mission_count(int 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(int 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::command_current_offboard_mission_index(const int new_index)
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{
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if (new_index >= 0) {
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_current_offboard_mission_index = (unsigned)new_index;
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} else {
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/* if less WPs available, reset to first WP */
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if (_current_offboard_mission_index >= _offboard_mission_item_count) {
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_current_offboard_mission_index = 0;
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}
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}
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report_current_offboard_mission_item();
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}
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bool
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Mission::command_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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} else {
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/* if less WPs available, reset to first WP */
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if (_current_onboard_mission_index >= _onboard_mission_item_count) {
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_current_onboard_mission_index = 0;
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}
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}
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// TODO: implement this for onboard missions as well
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// report_current_mission_item();
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}
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bool
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Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool *onboard, int *index)
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{
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*onboard = false;
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*index = -1;
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/* try onboard mission first */
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if (_current_onboard_mission_index < _onboard_mission_item_count && _onboard_mission_allowed) {
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if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, true, &_current_onboard_mission_index, new_mission_item)) {
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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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return true;
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}
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}
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/* otherwise fallback to offboard */
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if (_current_offboard_mission_index < _offboard_mission_item_count) {
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dm_item_t dm_current;
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if (_offboard_dataman_id == 0) {
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dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
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} else {
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dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
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}
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if (read_mission_item(dm_current, true, &_current_offboard_mission_index, new_mission_item)) {
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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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return true;
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}
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}
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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 false;
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}
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bool
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Mission::get_next_mission_item(struct mission_item_s *new_mission_item)
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{
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int next_temp_mission_index = _current_onboard_mission_index + 1;
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/* try onboard mission first */
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if (next_temp_mission_index < _onboard_mission_item_count && _onboard_mission_allowed) {
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if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, new_mission_item)) {
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return true;
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}
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}
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/* then try offboard mission */
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dm_item_t dm_current;
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if (_offboard_dataman_id == 0) {
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dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
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} else {
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dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
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}
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next_temp_mission_index = _current_offboard_mission_index + 1;
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if (next_temp_mission_index < _offboard_mission_item_count) {
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if (read_mission_item(dm_current, false, &next_temp_mission_index, new_mission_item)) {
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return true;
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}
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}
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/* both failed, bail out */
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return false;
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}
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bool
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Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index, struct mission_item_s *new_mission_item)
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{
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/* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */
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for (int i=0; i<10; i++) {
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const ssize_t len = sizeof(struct mission_item_s);
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/* read mission item from datamanager */
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if (dm_read(dm_item, *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 false;
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}
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/* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */
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if (new_mission_item->nav_cmd == NAV_CMD_DO_JUMP) {
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if (new_mission_item->do_jump_current_count < new_mission_item->do_jump_repeat_count) {
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/* only raise the repeat count if this is for the current mission item
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* but not for the next mission item */
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if (is_current) {
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(new_mission_item->do_jump_current_count)++;
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/* save repeat count */
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if (dm_write(dm_item, *mission_index, DM_PERSIST_IN_FLIGHT_RESET, 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 false;
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}
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}
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/* set new mission item index and repeat
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* we don't have to validate here, if it's invalid, we should realize this later .*/
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*mission_index = new_mission_item->do_jump_mission_index;
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} else {
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return false;
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}
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} else {
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/* if it's not a DO_JUMP, then we were successful */
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return true;
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}
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}
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/* we have given up, we don't want to cycle forever */
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warnx("ERROR: cycling through mission items without success");
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return false;
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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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report_mission_item_reached();
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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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void
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Mission::report_mission_item_reached()
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{
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if (_current_mission_type == MISSION_TYPE_OFFBOARD) {
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_mission_result.mission_reached = true;
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_mission_result.mission_index_reached = _current_offboard_mission_index;
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}
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publish_mission_result();
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}
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void
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Mission::report_current_offboard_mission_item()
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{
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_mission_result.index_current_mission = _current_offboard_mission_index;
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publish_mission_result();
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}
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void
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Mission::publish_mission_result()
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{
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/* lazily publish the mission result only once available */
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if (_mission_result_pub > 0) {
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/* publish mission result */
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orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
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} else {
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/* advertise and publish */
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_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
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}
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/* reset reached bool */
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_mission_result.mission_reached = false;
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}
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