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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 mission.h
* Helper class 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/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include "mission_feasibility_checker.h"
class Navigator;
class __EXPORT Mission : public control::SuperBlock
{
public:
/**
* Constructor
*/
Mission(Navigator *navigator);
/**
* 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);
protected:
/**
* Check if mission item has been reached
* @return true if successfully reached
*/
bool is_mission_item_reached();
/**
* Reset all reached flags
*/
void reset_mission_item_reached();
/**
* Convert a mission item to a position setpoint
*/
void mission_item_to_position_setpoint(const struct mission_item_s *item, struct position_setpoint_s *sp);
/**
* Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
*/
void set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet);
class Navigator *_navigator;
bool _waypoint_position_reached;
bool _waypoint_yaw_reached;
hrt_abstime _time_first_inside_orbit;
bool _first_run;
private:
/**
* Update onboard mission topic
* @return true if onboard mission has been updated
*/
bool is_onboard_mission_updated();
/**
* Update offboard mission topic
* @return true if offboard mission has been updated
*/
bool is_offboard_mission_updated();
/**
* 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();
/**
* Publish the mission result so commander and mavlink know what is going on
*/
void publish_mission_result();
control::BlockParamFloat _param_onboard_enabled;
control::BlockParamFloat _param_loiter_radius;
struct mission_s _onboard_mission;
struct mission_s _offboard_mission;
int _current_onboard_mission_index;
int _current_offboard_mission_index;
struct mission_item_s _mission_item;
orb_advert_t _mission_result_pub;
struct mission_result_s _mission_result;
enum {
MISSION_TYPE_NONE,
MISSION_TYPE_ONBOARD,
MISSION_TYPE_OFFBOARD
} _mission_type;
bool _loiter_set;
MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
};
#endif
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