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115 lines
3.4 KiB
C++
115 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 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 flight_taks.h
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*
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* Library class to hold and manage all implemented flight task instances
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include "tasks/FlightTask.hpp"
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#include "tasks/FlightTaskOrbit.hpp"
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class FlightTasks
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{
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public:
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FlightTasks() {};
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~FlightTasks() {};
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/**
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* Call regularly in the control loop cycle to execute the task
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* @return 0 on success, >0 on error
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*/
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int update()
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{
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if (is_any_task_active()) {
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return _tasks[_current_task]->update();
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} else {
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return 1;
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}
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};
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/**
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* Call this function initially to point all tasks to the general input data
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*/
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void set_input_pointers(vehicle_local_position_s *vehicle_local_position,
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manual_control_setpoint_s *manual_control_setpoint)
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{
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for (int i = 0; i < _task_count; i++) {
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_tasks[i]->set_vehicle_local_position_pointer(vehicle_local_position);
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_tasks[i]->set_manual_control_setpoint_pointer(manual_control_setpoint);
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}
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};
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/**
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* Switch to a different task
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*/
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void switch_task(int task_number)
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{
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if (is_any_task_active()) {
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_tasks[_current_task]->disable();
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}
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_current_task = task_number;
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if (is_any_task_active()) {
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_tasks[_current_task]->activate();
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}
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};
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/**
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* Call to get result of the task execution
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* @return pointer to the setpoint for the position controller
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*/
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const vehicle_local_position_setpoint_s *get_position_setpoint() const { return Orbit.get_position_setpoint(); };
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/**
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* Call to get result of the task execution
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* @return pointer to
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*/
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bool is_any_task_active() const { return _current_task > -1 && _current_task < _task_count; };
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private:
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static const int _task_count = 1;
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int _current_task = -1;
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FlightTaskOrbit Orbit;
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FlightTask *_tasks[_task_count] = {&Orbit};
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};
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