diff options
Diffstat (limited to 'src/modules/navigator/navigator_mission.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_mission.cpp | 44 |
1 files changed, 28 insertions, 16 deletions
diff --git a/src/modules/navigator/navigator_mission.cpp b/src/modules/navigator/navigator_mission.cpp index 6576aae70..e72caf98e 100644 --- a/src/modules/navigator/navigator_mission.cpp +++ b/src/modules/navigator/navigator_mission.cpp @@ -52,8 +52,8 @@ static const int ERROR = -1; -Mission::Mission() : - +Mission::Mission() : + _offboard_dataman_id(-1), _current_offboard_mission_index(0), _current_onboard_mission_index(0), @@ -65,7 +65,7 @@ Mission::Mission() : Mission::~Mission() { - + } void @@ -126,33 +126,39 @@ Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool { /* 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 */ + /* 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; @@ -171,25 +177,29 @@ 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 */ + /* 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; @@ -244,14 +254,16 @@ 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; + case MISSION_TYPE_ONBOARD: + _current_onboard_mission_index++; + break; + + case MISSION_TYPE_OFFBOARD: + _current_offboard_mission_index++; + break; + + case MISSION_TYPE_NONE: + default: + break; } }
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