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96 lines
4.0 KiB
C++
96 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2017 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 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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*/
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#ifndef MISSION_FEASIBILITY_CHECKER_H_
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#define MISSION_FEASIBILITY_CHECKER_H_
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#include <dataman/dataman.h>
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#include <uORB/topics/mission.h>
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#include <uORB/topics/fw_pos_ctrl_status.h>
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class Geofence;
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class Navigator;
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class MissionFeasibilityChecker
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{
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private:
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Navigator *_navigator{nullptr};
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/* Checks for all airframes */
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bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid);
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bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool home_valid,
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bool &warning_issued, bool throw_error = false);
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bool checkMissionItemValidity(dm_item_t dm_current, size_t nMissionItems, bool condition_landed);
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bool check_dist_1wp(dm_item_t dm_current, size_t nMissionItems, double curr_lat, double curr_lon,
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float dist_first_wp, bool &warning_issued);
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/* Checks specific to fixedwing airframes */
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bool checkFixedwing(dm_item_t dm_current, size_t nMissionItems, fw_pos_ctrl_status_s *fw_pos_ctrl_status,
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float home_alt, bool home_valid, float default_acceptance_rad, bool land_start_req);
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bool checkFixedWingTakeoff(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool home_valid,
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float default_acceptance_rad);
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bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems, fw_pos_ctrl_status_s *fw_pos_ctrl_status,
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bool land_start_req);
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/* Checks specific to rotarywing airframes */
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bool checkRotarywing(dm_item_t dm_current, size_t nMissionItems,
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float home_alt, bool home_valid, float default_acceptance_rad);
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public:
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MissionFeasibilityChecker(Navigator *navigator) : _navigator(navigator) {};
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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, float max_waypoint_distance, bool land_start_req);
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};
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#endif /* MISSION_FEASIBILITY_CHECKER_H_ */
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