Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite

1 files changed, 184 insertions, 0 deletions

diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
new file mode 100644
index 000000000..a3dd09ecd
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+++ b/src/modules/navigator/mission.h
@@ -0,0 +1,184 @@
+/****************************************************************************
+ *
+ *   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 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 NavigatorMode, MissionBlock
+{
+public:
+	/**
+	 * Constructor
+	 */
+	Mission(Navigator *navigator, const char *name);
+
+	/**
+	 * Destructor
+	 */
+	virtual ~Mission();
+
+	/**
+	 * This function is called while the mode is inactive
+	 */
+	virtual void reset();
+
+	/**
+	 * This function is called while the mode is active
+	 */
+	virtual bool update(struct position_setpoint_triplet_s *pos_sp_triplet);
+
+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(struct position_setpoint_triplet_s *pos_sp_triplet);
+
+	/**
+	 * Set previous position setpoint
+	 */
+	void set_previous_pos_setpoint(const struct position_setpoint_s *current_pos_sp,
+			               struct position_setpoint_s *previous_pos_sp);
+
+	/**
+	 * 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