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* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
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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();
/**
* Set new mission items
*/
void set_mission_items();
/**
* Try to set the current position setpoint from an onboard mission item
* @return true if mission item successfully set
*/
bool is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp);
/**
* Try to set the current position setpoint from an offboard mission item
* @return true if mission item successfully set
*/
bool is_current_offboard_mission_item_set(struct position_setpoint_s *current_pos_sp);
/**
* Try to set the next position setpoint from an onboard mission item
*/
void get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp);
/**
* Try to set the next position setpoint from an offboard mission item
*/
void get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp);
/**
* Read a mission item from the dataman and watch out for DO_JUMPS
* @return true if successful
*/
bool read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index,
struct mission_item_s *new_mission_item);
/**
* 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::BlockParamFloat _param_onboard_enabled;
struct mission_s _onboard_mission;
struct mission_s _offboard_mission;
int _current_onboard_mission_index;
int _current_offboard_mission_index;
orb_advert_t _mission_result_pub;
struct mission_result_s _mission_result;
enum {
MISSION_TYPE_NONE,
MISSION_TYPE_ONBOARD,
MISSION_TYPE_OFFBOARD
} _mission_type;
MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
};
#endif