diff options
Diffstat (limited to 'src/modules/navigator/navigator_mission.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_mission.cpp | 68 |
1 files changed, 59 insertions, 9 deletions
diff --git a/src/modules/navigator/navigator_mission.cpp b/src/modules/navigator/navigator_mission.cpp index e72caf98e..49fc62785 100644 --- a/src/modules/navigator/navigator_mission.cpp +++ b/src/modules/navigator/navigator_mission.cpp @@ -1,7 +1,6 @@ /**************************************************************************** * * 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 @@ -34,15 +33,16 @@ /** * @file navigator_mission.cpp * Helper class to access missions + * + * @author Julian Oes <joes@student.ethz.ch> */ -// #include <stdio.h> -// #include <stdlib.h> -// #include <string.h> -// #include <unistd.h> - +#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++ */ @@ -60,8 +60,11 @@ Mission::Mission() : _offboard_mission_item_count(0), _onboard_mission_item_count(0), _onboard_mission_allowed(false), - _current_mission_type(MISSION_TYPE_NONE) -{} + _current_mission_type(MISSION_TYPE_NONE), + _mission_result_pub(-1) +{ + memset(&_mission_result, 0, sizeof(struct mission_result_s)); +} Mission::~Mission() { @@ -78,8 +81,16 @@ 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_offboard_mission_item(); } void @@ -87,7 +98,15 @@ 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 @@ -266,4 +285,35 @@ Mission::move_to_next() default: break; } -}
\ No newline at end of file +} + +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_offboard_mission_item() +{ + _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; +} |