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/****************************************************************************
*
* 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.cpp
*
* Helper class to access missions
*
* @author Julian Oes <julian@oes.ch>
*/
#include <sys/types.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <dataman/dataman.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include "mission.h"
#include "navigator.h"
Mission::Mission(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_onboard_enabled(this, "ONBOARD_EN"),
_onboard_mission({0}),
_offboard_mission({0}),
_current_onboard_mission_index(-1),
_current_offboard_mission_index(-1),
_mission_result_pub(-1),
_mission_result({0}),
_mission_type(MISSION_TYPE_NONE)
{
/* load initial params */
updateParams();
/* set initial mission items */
on_inactive();
}
Mission::~Mission()
{
}
void
Mission::on_inactive()
{
/* check anyway if missions have changed so that feedback to groundstation is given */
bool onboard_updated;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
if (onboard_updated) {
update_onboard_mission();
}
bool offboard_updated;
orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
if (offboard_updated) {
update_offboard_mission();
}
}
void
Mission::on_activation()
{
set_mission_items();
}
void
Mission::on_active()
{
/* check if anything has changed */
bool onboard_updated;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
if (onboard_updated) {
update_onboard_mission();
}
bool offboard_updated;
orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
if (offboard_updated) {
update_offboard_mission();
}
/* reset mission items if needed */
if (onboard_updated || offboard_updated) {
set_mission_items();
_navigator->set_position_setpoint_triplet_updated();
}
/* lets check if we reached the current mission item */
if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
advance_mission();
set_mission_items();
_navigator->set_position_setpoint_triplet_updated();
}
}
void
Mission::update_onboard_mission()
{
if (orb_copy(ORB_ID(onboard_mission), _navigator->get_onboard_mission_sub(), &_onboard_mission) == OK) {
/* accept the current index set by the onboard mission if it is within bounds */
if (_onboard_mission.current_index >=0
&& _onboard_mission.current_index < (int)_onboard_mission.count) {
_current_onboard_mission_index = _onboard_mission.current_index;
} else {
/* if less WPs available, reset to first WP */
if (_current_onboard_mission_index >= (int)_onboard_mission.count) {
_current_onboard_mission_index = 0;
/* if not initialized, set it to 0 */
} else if (_current_onboard_mission_index < 0) {
_current_onboard_mission_index = 0;
}
/* otherwise, just leave it */
}
} else {
_onboard_mission.count = 0;
_onboard_mission.current_index = 0;
_current_onboard_mission_index = 0;
}
}
void
Mission::update_offboard_mission()
{
if (orb_copy(ORB_ID(offboard_mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) {
/* determine current index */
if (_offboard_mission.current_index >= 0
&& _offboard_mission.current_index < (int)_offboard_mission.count) {
_current_offboard_mission_index = _offboard_mission.current_index;
} else {
/* if less WPs available, reset to first WP */
if (_current_offboard_mission_index >= (int)_offboard_mission.count) {
_current_offboard_mission_index = 0;
/* if not initialized, set it to 0 */
} else if (_current_offboard_mission_index < 0) {
_current_offboard_mission_index = 0;
}
/* otherwise, just leave it */
}
/* Check mission feasibility, for now do not handle the return value,
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
dm_item_t dm_current;
if (_offboard_mission.dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, dm_current,
(size_t)_offboard_mission.count,
_navigator->get_geofence(),
_navigator->get_home_position()->alt);
} else {
_offboard_mission.count = 0;
_offboard_mission.current_index = 0;
_current_offboard_mission_index = 0;
}
report_current_offboard_mission_item();
}
void
Mission::advance_mission()
{
switch (_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::set_mission_items()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* set previous position setpoint to current */
set_previous_pos_setpoint();
/* try setting onboard mission item */
if (set_mission_item(true, false, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running");
}
_mission_type = MISSION_TYPE_ONBOARD;
/* try setting offboard mission item */
} else if (set_mission_item(false, false, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running");
}
_mission_type = MISSION_TYPE_OFFBOARD;
} else {
/* no mission available, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: mission finished");
} else {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: no mission available");
}
_mission_type = MISSION_TYPE_NONE;
/* set loiter mission item */
set_loiter_item(&_mission_item);
/* update position setpoint triplet */
pos_sp_triplet->previous.valid = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
reset_mission_item_reached();
report_mission_finished();
_navigator->set_position_setpoint_triplet_updated();
return;
}
/* new current mission item set */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
_navigator->set_can_loiter_at_sp(false);
reset_mission_item_reached();
if (_mission_type == MISSION_TYPE_OFFBOARD) {
report_current_offboard_mission_item();
}
// TODO: report onboard mission item somehow
/* try to read next mission item */
struct mission_item_s mission_item_next;
if (!set_mission_item(_mission_type == MISSION_TYPE_ONBOARD, true, &mission_item_next)) {
/* got next mission item, update setpoint triplet */
mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next);
} else {
/* next mission item is not available */
pos_sp_triplet->next.valid = false;
}
_navigator->set_position_setpoint_triplet_updated();
}
bool
Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *mission_item)
{
/* make sure param is up to date */
updateParams();
/* select onboard/offboard mission */
int *mission_index_ptr;
struct mission_s *mission;
dm_item_t dm_item;
int mission_index_next;
if (onboard) {
/* onboard mission */
if (!_param_onboard_enabled.get()) {
return false;
}
mission_index_next = _current_onboard_mission_index + 1;
mission_index_ptr = next_item ? &mission_index_next : &_current_onboard_mission_index;
mission = &_onboard_mission;
dm_item = DM_KEY_WAYPOINTS_ONBOARD;
} else {
/* offboard mission */
mission_index_next = _current_offboard_mission_index + 1;
mission_index_ptr = next_item ? &mission_index_next : &_current_offboard_mission_index;
mission = &_offboard_mission;
if (_offboard_mission.dataman_id == 0) {
dm_item = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_item = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
}
if (*mission_index_ptr >= 0 && *mission_index_ptr < (int)mission->count) {
struct mission_item_s new_mission_item;
if (read_mission_item(dm_item, true, mission_index_ptr, &new_mission_item)) {
memcpy(&mission_item, &new_mission_item, sizeof(struct mission_item_s));
return true;
}
}
return false;
}
bool
Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index_ptr,
struct mission_item_s *new_mission_item)
{
/* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */
for (int i = 0; i < 10; i++) {
const ssize_t len = sizeof(struct mission_item_s);
/* read mission item from datamanager */
if (dm_read(dm_item, *mission_index_ptr, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"#audio: ERROR waypoint could not be read");
return false;
}
/* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */
if (new_mission_item->nav_cmd == NAV_CMD_DO_JUMP) {
/* do DO_JUMP as many times as requested */
if (new_mission_item->do_jump_current_count < new_mission_item->do_jump_repeat_count) {
/* only raise the repeat count if this is for the current mission item
* but not for the next mission item */
if (is_current) {
(new_mission_item->do_jump_current_count)++;
/* save repeat count */
if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET,
new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the
* dataman */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"#audio: ERROR DO JUMP waypoint could not be written");
return false;
}
}
/* set new mission item index and repeat
* we don't have to validate here, if it's invalid, we should realize this later .*/
*mission_index_ptr = new_mission_item->do_jump_mission_index;
} else {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: DO JUMP repetitions completed");
/* no more DO_JUMPS, therefore just try to continue with next mission item */
(*mission_index_ptr)++;
}
} else {
/* if it's not a DO_JUMP, then we were successful */
return true;
}
}
/* we have given up, we don't want to cycle forever */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"#audio: ERROR DO JUMP is cycling, giving up");
return false;
}
void
Mission::report_mission_item_reached()
{
if (_mission_type == MISSION_TYPE_OFFBOARD) {
_mission_result.mission_reached = true;
_mission_result.mission_index_reached = _current_offboard_mission_index;
}
publish_mission_result();
}
void
Mission::report_current_offboard_mission_item()
{
_mission_result.index_current_mission = _current_offboard_mission_index;
publish_mission_result();
}
void
Mission::report_mission_finished()
{
_mission_result.mission_finished = true;
publish_mission_result();
}
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;
_mission_result.mission_finished = false;
}
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