/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file navigator_mission.cpp
* Helper class to access missions
*/
#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 "navigator_mission.h"
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
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)
{
memset(&_mission_result, 0, sizeof(struct mission_result_s));
}
Mission::~Mission()
{
}
void
Mission::set_offboard_dataman_id(int new_id)
{
_offboard_dataman_id = new_id;
}
void
Mission::set_current_offboard_mission_index(int new_index)
{
if (new_index != -1) {
warnx("specifically set to %d", new_index);
_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_mission_item();
}
void
Mission::set_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();
}
void
Mission::set_offboard_mission_count(unsigned new_count)
{
_offboard_mission_item_count = new_count;
}
void
Mission::set_onboard_mission_count(unsigned new_count)
{
_onboard_mission_item_count = new_count;
}
void
Mission::set_onboard_mission_allowed(bool allowed)
{
_onboard_mission_allowed = allowed;
}
bool
Mission::current_mission_available()
{
return (current_onboard_mission_available() || current_offboard_mission_available());
}
bool
Mission::next_mission_available()
{
return (next_onboard_mission_available() || next_offboard_mission_available());
}
int
Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool *onboard, unsigned *index)
{
/* try onboard mission first */
if (current_onboard_mission_available()) {
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return ERROR;
}
_current_mission_type = MISSION_TYPE_ONBOARD;
*onboard = true;
*index = _current_onboard_mission_index;
/* otherwise fallback to offboard */
} else if (current_offboard_mission_available()) {
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;
}
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read(dm_current, _current_offboard_mission_index, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
_current_mission_type = MISSION_TYPE_NONE;
return ERROR;
}
_current_mission_type = MISSION_TYPE_OFFBOARD;
*onboard = false;
*index = _current_offboard_mission_index;
} else {
/* happens when no more mission items can be added as a next item */
_current_mission_type = MISSION_TYPE_NONE;
return ERROR;
}
return OK;
}
int
Mission::get_next_mission_item(struct mission_item_s *new_mission_item)
{
/* try onboard mission first */
if (next_onboard_mission_available()) {
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index + 1, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return ERROR;
}
/* otherwise fallback to offboard */
} else if (next_offboard_mission_available()) {
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;
}
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read(dm_current, _current_offboard_mission_index + 1, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return ERROR;
}
} else {
/* happens when no more mission items can be added as a next item */
return ERROR;
}
return OK;
}
bool
Mission::current_onboard_mission_available()
{
return _onboard_mission_item_count > _current_onboard_mission_index && _onboard_mission_allowed;
}
bool
Mission::current_offboard_mission_available()
{
return _offboard_mission_item_count > _current_offboard_mission_index;
}
bool
Mission::next_onboard_mission_available()
{
unsigned next = 0;
if (_current_mission_type != MISSION_TYPE_ONBOARD) {
next = 1;
}
return _onboard_mission_item_count > (_current_onboard_mission_index + next) && _onboard_mission_allowed;
}
bool
Mission::next_offboard_mission_available()
{
unsigned next = 0;
if (_current_mission_type != MISSION_TYPE_OFFBOARD) {
next = 1;
}
return _offboard_mission_item_count > (_current_offboard_mission_index + next);
}
void
Mission::move_to_next()
{
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;
}
}
void
Mission::report_current_mission_item()
{
if (_current_mission_type == MISSION_TYPE_OFFBOARD) {
_mission_result.index_current_mission = _current_offboard_mission_index;
}
}
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;
}
