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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.h
* Helper class to access missions
* @author Julian Oes <julian@oes.ch>
*
* @author Julian Oes <joes@student.ethz.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
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