path: root/src/modules/navigator/mission.h

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/**
 * @file mission.h
 *
 * Navigator mode to access missions
 *
 * @author Julian Oes <julian@oes.ch>
 */

#ifndef NAVIGATOR_MISSION_H
#define NAVIGATOR_MISSION_H

#include <drivers/drv_hrt.h>

#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>

#include <dataman/dataman.h>

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>

#include "navigator_mode.h"
#include "mission_block.h"
#include "mission_feasibility_checker.h"

class Navigator;

class Mission : public MissionBlock
{
public:
	Mission(Navigator *navigator, const char *name);

	virtual ~Mission();

	virtual void on_inactive();

	virtual void on_activation();

	virtual void on_active();

private:
	/**
	 * Update onboard mission topic
	 */
	void update_onboard_mission();

	/**
	 * Update offboard mission topic
	 */
	void update_offboard_mission();

	/**
	 * Move on to next mission item or switch to loiter
	 */
	void advance_mission();

	/**
	 * Check distance to first waypoint (with lat/lon)
	 * @return true only if it's not too far from home (< MIS_DIST_1WP)
	 */
	bool check_dist_1wp();

	/**
	 * Set new mission items
	 */
	void set_mission_items();

	/**
	 * Read current or next mission item from the dataman and watch out for DO_JUMPS
	 * @return true if successful
	 */
	bool read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item);

	/**
	 * Save current offboard mission state to dataman
	 */
	void save_offboard_mission_state();

	/**
	 * Report that a mission item has been reached
	 */
	void report_mission_item_reached();

	/**
	 * Rport the current mission item
	 */
	void report_current_offboard_mission_item();

	/**
	 * Report that the mission is finished if one exists or that none exists
	 */
	void report_mission_finished();

	/**
	 * Publish the mission result so commander and mavlink know what is going on
	 */
	void publish_mission_result();

	control::BlockParamInt _param_onboard_enabled;
	control::BlockParamFloat _param_takeoff_alt;
	control::BlockParamFloat _param_dist_1wp;

	struct mission_s _onboard_mission;
	struct mission_s _offboard_mission;

	int _current_onboard_mission_index;
	int _current_offboard_mission_index;
	bool _need_takeoff;
	bool _takeoff;

	orb_advert_t _mission_result_pub;
	struct mission_result_s _mission_result;

	enum {
		MISSION_TYPE_NONE,
		MISSION_TYPE_ONBOARD,
		MISSION_TYPE_OFFBOARD
	} _mission_type;

	bool _inited;
	bool _dist_1wp_ok;

	MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
};

#endif