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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.h
* Helper class to access missions
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef NAVIGATOR_H
#define NAVIGATOR_H
#include <systemlib/perf_counter.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_position.h>
#include "mission.h"
#include "rtl.h"
#include "geofence.h"
class Navigator
{
public:
/**
* Constructor
*/
Navigator();
/**
* Destructor, also kills the navigators task.
*/
~Navigator();
/**
* Start the navigator task.
*
* @return OK on success.
*/
int start();
/**
* Display the navigator status.
*/
void status();
/**
* Add point to geofence
*/
void add_fence_point(int argc, char *argv[]);
/**
* Load fence from file
*/
void load_fence_from_file(const char *filename);
struct vehicle_status_s* get_vstatus() { return &_vstatus; }
struct vehicle_global_position_s* get_global_position() { return &_global_pos; }
struct home_position_s* get_home_position() { return &_home_pos; }
Geofence& get_geofence() { return _geofence; }
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _navigator_task; /**< task handle for sensor task */
int _mavlink_fd; /**< the file descriptor to send messages over mavlink */
int _global_pos_sub; /**< global position subscription */
int _home_pos_sub; /**< home position subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _capabilities_sub; /**< notification of vehicle capabilities updates */
int _control_mode_sub; /**< vehicle control mode subscription */
orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */
vehicle_status_s _vstatus; /**< vehicle status */
vehicle_control_mode_s _control_mode; /**< vehicle control mode */
vehicle_global_position_s _global_pos; /**< global vehicle position */
home_position_s _home_pos; /**< home position for RTL */
mission_item_s _mission_item; /**< current mission item */
navigation_capabilities_s _nav_caps; /**< navigation capabilities */
position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */
bool _mission_item_valid; /**< flags if the current mission item is valid */
perf_counter_t _loop_perf; /**< loop performance counter */
Geofence _geofence; /**< class that handles the geofence */
bool _geofence_violation_warning_sent; /**< prevents spaming to mavlink */
bool _fence_valid; /**< flag if fence is valid */
bool _inside_fence; /**< vehicle is inside fence */
Mission _mission; /**< class that handles the missions */
//Loiter _loiter; /**< class that handles loiter */
RTL _rtl; /**< class that handles RTL */
bool _waypoint_position_reached; /**< flags if the position of the mission item has been reached */
bool _waypoint_yaw_reached; /**< flags if the yaw position of the mission item has been reached */
uint64_t _time_first_inside_orbit; /**< the time when we were first in the acceptance radius of the mission item */
bool _update_triplet; /**< flags if position setpoint triplet needs to be published */
struct {
float acceptance_radius;
float loiter_radius;
int onboard_mission_enabled;
float takeoff_alt;
} _parameters; /**< local copies of parameters */
struct {
param_t acceptance_radius;
param_t loiter_radius;
param_t onboard_mission_enabled;
param_t takeoff_alt;
} _parameter_handles; /**< handles for parameters */
/**
* Update our local parameter cache.
*/
void parameters_update();
/**
* Retrieve global position
*/
void global_position_update();
/**
* Retrieve home position
*/
void home_position_update();
/**
* Retreive navigation capabilities
*/
void navigation_capabilities_update();
/**
* Retrieve vehicle status
*/
void vehicle_status_update();
/**
* Retrieve vehicle control mode
*/
void vehicle_control_mode_update();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main task.
*/
void task_main();
/**
* Translate mission item to a position setpoint.
*/
void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
/**
* Publish a new position setpoint triplet for position controllers
*/
void publish_position_setpoint_triplet();
};
#endif
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