navigator: lot's of cleanup (WIP)

1 files changed, 98 insertions, 0 deletions

diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
new file mode 100644
index 000000000..0fa2ff3fa
--- /dev/null
+++ b/src/modules/navigator/mission.h
@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * 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.h
+ * Helper class to access missions
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#ifndef NAVIGATOR_MISSION_H
+#define NAVIGATOR_MISSION_H
+
+#include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
+#include <dataman/dataman.h>
+
+
+class __EXPORT Mission
+{
+public:
+	/**
+	 * Constructor
+	 */
+	Mission();
+
+	/**
+	 * Destructor
+	 */
+	~Mission();
+
+	void		set_offboard_dataman_id(const int new_id);
+	void		set_offboard_mission_count(const int new_count);
+	void		set_onboard_mission_count(const int new_count);
+	void		set_onboard_mission_allowed(const bool allowed);
+
+	bool		command_current_offboard_mission_index(const int new_index);
+	bool		command_current_onboard_mission_index(const int new_index);
+
+	bool		get_current_mission_item(struct mission_item_s *mission_item, bool *onboard, int *index);
+	bool		get_next_mission_item(struct mission_item_s *mission_item);
+
+	void		move_to_next();
+
+private:
+	bool		read_mission_item(const dm_item_t dm_item, const bool is_current, int *mission_index, struct mission_item_s *new_mission_item);
+
+	void		report_mission_item_reached();
+	void		report_current_offboard_mission_item();
+
+	void		publish_mission_result();
+
+	int 		_offboard_dataman_id;
+	int		_current_offboard_mission_index;
+	int		_current_onboard_mission_index;
+	int		_offboard_mission_item_count;		/** number of offboard mission items available */
+	int		_onboard_mission_item_count;		/** number of onboard mission items available */
+	bool		_onboard_mission_allowed;
+
+	enum {
+		MISSION_TYPE_NONE,
+		MISSION_TYPE_ONBOARD,
+		MISSION_TYPE_OFFBOARD,
+	} 		_current_mission_type;
+
+	orb_advert_t	 _mission_result_pub;			/**< publish mission result topic */
+	mission_result_s _mission_result;			/**< mission result for commander/mavlink */
+};
+
+#endif