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/**
* @file navigator_mission.cpp
*
* Helper class to access missions
*
* @author Julian Oes <julian@oes.ch>
*/
#include <string.h>
#include <stdlib.h>
#include <dataman/dataman.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission_result.h>
#include "mission.h"
Mission::Mission() :
_offboard_dataman_id(-1),
_current_offboard_mission_index(0),
_current_onboard_mission_index(0),
_offboard_mission_item_count(0),
_onboard_mission_item_count(0),
_onboard_mission_allowed(false),
_current_mission_type(MISSION_TYPE_NONE),
_mission_result_pub(-1),
_mission_result({})
{
}
Mission::~Mission()
{
}
void
Mission::set_offboard_dataman_id(const int new_id)
{
_offboard_dataman_id = new_id;
}
void
Mission::set_offboard_mission_count(int new_count)
{
_offboard_mission_item_count = new_count;
}
void
Mission::set_onboard_mission_count(int new_count)
{
_onboard_mission_item_count = new_count;
}
void
Mission::set_onboard_mission_allowed(bool allowed)
{
_onboard_mission_allowed = allowed;
}
bool
Mission::command_current_offboard_mission_index(const int new_index)
{
if (new_index >= 0) {
_current_offboard_mission_index = (unsigned)new_index;
} else {
/* if less WPs available, reset to first WP */
if (_current_offboard_mission_index >= _offboard_mission_item_count) {
_current_offboard_mission_index = 0;
}
}
report_current_offboard_mission_item();
}
bool
Mission::command_current_onboard_mission_index(int new_index)
{
if (new_index != -1) {
_current_onboard_mission_index = (unsigned)new_index;
} else {
/* if less WPs available, reset to first WP */
if (_current_onboard_mission_index >= _onboard_mission_item_count) {
_current_onboard_mission_index = 0;
}
}
// TODO: implement this for onboard missions as well
// report_current_mission_item();
}
bool
Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool *onboard, int *index)
{
*onboard = false;
*index = -1;
/* try onboard mission first */
if (_current_onboard_mission_index < _onboard_mission_item_count && _onboard_mission_allowed) {
if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, true, &_current_onboard_mission_index, new_mission_item)) {
_current_mission_type = MISSION_TYPE_ONBOARD;
*onboard = true;
*index = _current_onboard_mission_index;
return true;
}
}
/* otherwise fallback to offboard */
if (_current_offboard_mission_index < _offboard_mission_item_count) {
dm_item_t dm_current;
if (_offboard_dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
if (read_mission_item(dm_current, true, &_current_offboard_mission_index, new_mission_item)) {
_current_mission_type = MISSION_TYPE_OFFBOARD;
*onboard = false;
*index = _current_offboard_mission_index;
return true;
}
}
/* happens when no more mission items can be added as a next item */
_current_mission_type = MISSION_TYPE_NONE;
return false;
}
bool
Mission::get_next_mission_item(struct mission_item_s *new_mission_item)
{
int next_temp_mission_index = _current_onboard_mission_index + 1;
/* try onboard mission first */
if (next_temp_mission_index < _onboard_mission_item_count && _onboard_mission_allowed) {
if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, new_mission_item)) {
return true;
}
}
/* then try offboard mission */
dm_item_t dm_current;
if (_offboard_dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
next_temp_mission_index = _current_offboard_mission_index + 1;
if (next_temp_mission_index < _offboard_mission_item_count) {
if (read_mission_item(dm_current, false, &next_temp_mission_index, new_mission_item)) {
return true;
}
}
/* both failed, bail out */
return false;
}
bool
Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index, struct mission_item_s *new_mission_item)
{
/* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */
for (int i=0; i<10; i++) {
const ssize_t len = sizeof(struct mission_item_s);
/* read mission item from datamanager */
if (dm_read(dm_item, *mission_index, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
/* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */
if (new_mission_item->nav_cmd == NAV_CMD_DO_JUMP) {
if (new_mission_item->do_jump_current_count < new_mission_item->do_jump_repeat_count) {
/* only raise the repeat count if this is for the current mission item
* but not for the next mission item */
if (is_current) {
(new_mission_item->do_jump_current_count)++;
/* save repeat count */
if (dm_write(dm_item, *mission_index, DM_PERSIST_IN_FLIGHT_RESET, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
}
/* set new mission item index and repeat
* we don't have to validate here, if it's invalid, we should realize this later .*/
*mission_index = new_mission_item->do_jump_mission_index;
} else {
return false;
}
} else {
/* if it's not a DO_JUMP, then we were successful */
return true;
}
}
/* we have given up, we don't want to cycle forever */
warnx("ERROR: cycling through mission items without success");
return false;
}
void
Mission::move_to_next()
{
report_mission_item_reached();
switch (_current_mission_type) {
case MISSION_TYPE_ONBOARD:
_current_onboard_mission_index++;
break;
case MISSION_TYPE_OFFBOARD:
_current_offboard_mission_index++;
break;
case MISSION_TYPE_NONE:
default:
break;
}
}
void
Mission::report_mission_item_reached()
{
if (_current_mission_type == MISSION_TYPE_OFFBOARD) {
_mission_result.mission_reached = true;
_mission_result.mission_index_reached = _current_offboard_mission_index;
}
publish_mission_result();
}
void
Mission::report_current_offboard_mission_item()
{
_mission_result.index_current_mission = _current_offboard_mission_index;
publish_mission_result();
}
void
Mission::publish_mission_result()
{
/* lazily publish the mission result only once available */
if (_mission_result_pub > 0) {
/* publish mission result */
orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
} else {
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
/* reset reached bool */
_mission_result.mission_reached = false;
}
