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80 lines
3.0 KiB
C++
80 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2022 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 mission_feasibility_checker.h
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* Provides checks if mission is feasible given the navigation capabilities
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Sander Smeets <sander@droneslab.com>
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* @author Nuno Marques <nuno.marques@dronesolutions.io>
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*/
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#pragma once
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#include <dataman_client/DatamanClient.hpp>
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#include <uORB/topics/mission.h>
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#include <px4_platform_common/module_params.h>
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#include "MissionFeasibility/FeasibilityChecker.hpp"
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class Navigator;
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class MissionFeasibilityChecker: public ModuleParams
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{
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private:
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Navigator *_navigator{nullptr};
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DatamanClient &_dataman_client;
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FeasibilityChecker _feasibility_checker;
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bool checkMissionAgainstGeofence(const mission_s &mission, float home_alt, bool home_valid);
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public:
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MissionFeasibilityChecker(Navigator *navigator, DatamanClient &dataman_client) :
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ModuleParams(nullptr),
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_navigator(navigator),
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_dataman_client(dataman_client),
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_feasibility_checker()
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{
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}
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~MissionFeasibilityChecker() = default;
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MissionFeasibilityChecker(const MissionFeasibilityChecker &) = delete;
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MissionFeasibilityChecker &operator=(const MissionFeasibilityChecker &) = delete;
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/*
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* Returns true if mission is feasible and false otherwise
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*/
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bool checkMissionFeasible(const mission_s &mission);
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};
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