messages parser for mission interface More...

#include "modules/mission/mission_common.h"
#include <string.h>
#include "generated/flight_plan.h"
#include "generated/airframe.h"
#include "modules/datalink/datalink.h"
#include "modules/datalink/downlink.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for mission_common.c:

Go to the source code of this file.

Macros
#define	MISSION_CHECK_UNIQUE_ID TRUE

Functions
static void	send_mission_status (struct transport_tx trans, struct link_device device)

void	mission_init (void)
	Init mission structure. More...

bool	mission_insert (enum MissionInsertMode insert, struct _mission_element *element)
	Insert a mission element according to the insertion mode. More...

bool	mission_register (mission_custom_cb cb, char *type)
	Register a new navigation or action callback function. More...

static struct _mission_registered *	mission_get_registered (char *type)

struct _mission_element *	mission_get_from_index (uint8_t index)
	Get mission element by index. More...

struct _mission_element *	mission_get (void)
	Get current mission element. More...

void	mission_status_report (void)
	Report mission status. More...

int	mission_parse_GOTO_WP (uint8_t *buf)
	Parsing functions called when a mission message is received. More...

int	mission_parse_GOTO_WP_LLA (uint8_t *buf)

int	mission_parse_CIRCLE (uint8_t *buf)

int	mission_parse_CIRCLE_LLA (uint8_t *buf)

int	mission_parse_SEGMENT (uint8_t *buf)

int	mission_parse_SEGMENT_LLA (uint8_t *buf)

int	mission_parse_PATH (uint8_t *buf)

int	mission_parse_PATH_LLA (uint8_t *buf)

int	mission_parse_CUSTOM (uint8_t *buf)

int	mission_parse_UPDATE (uint8_t *buf)

int	mission_parse_GOTO_MISSION (uint8_t *buf)

int	mission_parse_NEXT_MISSION (uint8_t *buf)

int	mission_parse_END_MISSION (uint8_t *buf)

Variables
struct _mission	mission = { 0 }

Detailed Description

messages parser for mission interface

Definition in file mission_common.c.

Macro Definition Documentation

◆ MISSION_CHECK_UNIQUE_ID

#define MISSION_CHECK_UNIQUE_ID TRUE

Definition at line 40 of file mission_common.c.

Function Documentation

◆ mission_get()

struct _mission_element* mission_get ( void )

Get current mission element.

Returns: return a pointer to the next mission element or NULL if no more elements

Definition at line 178 of file mission_common.c.

References _mission::current_idx, _mission::elements, _mission::insert_idx, and mission.

Referenced by mission_run().

Here is the caller graph for this function:

◆ mission_get_from_index()

struct _mission_element* mission_get_from_index ( uint8_t index )

Get mission element by index.

Returns: return a pointer to the mission element or NULL if no more elements

Definition at line 162 of file mission_common.c.

References _mission::current_idx, _mission::elements, _mission_element::index, _mission::insert_idx, mission, and MISSION_ELEMENT_NB.

Referenced by mission_insert(), and mission_parse_UPDATE().

Here is the caller graph for this function:

◆ mission_get_registered()

static struct _mission_registered* mission_get_registered ( char * type )

static

Definition at line 151 of file mission_common.c.

References mission, MISSION_REGISTER_NB, _mission::registered, and _mission_registered::type.

Referenced by mission_parse_CUSTOM().

Here is the caller graph for this function:

◆ mission_init()

void mission_init ( void )

Init mission structure.

Definition at line 65 of file mission_common.c.

References _mission_registered::cb, _mission::current_idx, DefaultPeriodic, _mission::element_time, _mission::insert_idx, mission, MISSION_REGISTER_NB, MISSION_TYPE_SIZE, register_periodic_telemetry(), _mission::registered, send_mission_status(), and _mission_registered::type.

Here is the call graph for this function:

◆ mission_insert()

bool mission_insert	(	enum MissionInsertMode	insert,
		struct _mission_element *	element
	)

Insert a mission element according to the insertion mode.

Parameters

insert	insertion mode
element	mission element structure

Returns: return TRUE if insertion is succesful, FALSE otherwise

Definition at line 83 of file mission_common.c.

References Append, _mission::current_idx, _mission::element_time, _mission::elements, _mission_element::index, _mission::insert_idx, mission, MISSION_ELEMENT_NB, mission_get_from_index(), Prepend, ReplaceAll, ReplaceCurrent, and ReplaceNexts.

Referenced by mission_parse_CIRCLE(), mission_parse_CIRCLE_LLA(), mission_parse_CUSTOM(), mission_parse_GOTO_WP(), mission_parse_GOTO_WP_LLA(), mission_parse_PATH(), mission_parse_PATH_LLA(), mission_parse_SEGMENT(), and mission_parse_SEGMENT_LLA().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mission_parse_CIRCLE()

int mission_parse_CIRCLE ( uint8_t * buf )

Definition at line 236 of file mission_common.c.

References _mission_element::duration, _mission_element::element, _mission_element::index, mission_insert(), MissionCircle, and _mission_element::type.

Here is the call graph for this function:

◆ mission_parse_CIRCLE_LLA()

int mission_parse_CIRCLE_LLA ( uint8_t * buf )

Definition at line 254 of file mission_common.c.

References LlaCoor_i::alt, _mission_element::duration, _mission_element::element, _mission_element::index, LlaCoor_i::lat, LlaCoor_i::lon, mission_insert(), mission_point_of_lla(), MissionCircle, and _mission_element::type.

Here is the call graph for this function:

◆ mission_parse_CUSTOM()

int mission_parse_CUSTOM ( uint8_t * buf )

Definition at line 392 of file mission_common.c.

References _mission_element::duration, _mission_element::element, _mission_element::index, mission_get_registered(), mission_insert(), MissionCustom, and _mission_element::type.

Here is the call graph for this function:

◆ mission_parse_END_MISSION()

int mission_parse_END_MISSION ( uint8_t * buf )

Definition at line 474 of file mission_common.c.

References _mission::current_idx, _mission::element_time, _mission::insert_idx, and mission.

◆ mission_parse_GOTO_MISSION()

int mission_parse_GOTO_MISSION ( uint8_t * buf )

Definition at line 446 of file mission_common.c.

References _mission::current_idx, _mission::element_time, mission, and MISSION_ELEMENT_NB.

◆ mission_parse_GOTO_WP()

int mission_parse_GOTO_WP ( uint8_t * buf )

Parsing functions called when a mission message is received.

Definition at line 198 of file mission_common.c.

References _mission_element::duration, _mission_element::element, _mission_element::index, mission_insert(), MissionWP, and _mission_element::type.

Here is the call graph for this function:

◆ mission_parse_GOTO_WP_LLA()

int mission_parse_GOTO_WP_LLA ( uint8_t * buf )

Definition at line 215 of file mission_common.c.

References LlaCoor_i::alt, _mission_element::duration, _mission_element::element, _mission_element::index, LlaCoor_i::lat, LlaCoor_i::lon, mission_insert(), mission_point_of_lla(), MissionWP, and _mission_element::type.

Here is the call graph for this function:

◆ mission_parse_NEXT_MISSION()

int mission_parse_NEXT_MISSION ( uint8_t * buf )

Definition at line 461 of file mission_common.c.

References _mission::current_idx, _mission::element_time, _mission::insert_idx, mission, and MISSION_ELEMENT_NB.

◆ mission_parse_PATH()

int mission_parse_PATH ( uint8_t * buf )

Definition at line 321 of file mission_common.c.

References _mission_element::duration, _mission_element::element, _mission_element::index, mission_insert(), MISSION_PATH_NB, MissionPath, and _mission_element::type.

Here is the call graph for this function:

◆ mission_parse_PATH_LLA()

int mission_parse_PATH_LLA ( uint8_t * buf )

Definition at line 353 of file mission_common.c.

References LlaCoor_i::alt, _mission_element::duration, _mission_element::element, _mission_element::index, LlaCoor_i::lat, LlaCoor_i::lon, mission_insert(), MISSION_PATH_NB, mission_point_of_lla(), MissionPath, and _mission_element::type.

Here is the call graph for this function:

◆ mission_parse_SEGMENT()

int mission_parse_SEGMENT ( uint8_t * buf )

Definition at line 276 of file mission_common.c.

References _mission_element::duration, _mission_element::element, _mission_element::index, mission_insert(), MissionSegment, and _mission_element::type.

Here is the call graph for this function:

◆ mission_parse_SEGMENT_LLA()

int mission_parse_SEGMENT_LLA ( uint8_t * buf )

Definition at line 296 of file mission_common.c.

References LlaCoor_i::alt, _mission_element::duration, _mission_element::element, _mission_element::index, LlaCoor_i::lat, LlaCoor_i::lon, mission_insert(), mission_point_of_lla(), MissionSegment, and _mission_element::type.

Here is the call graph for this function:

◆ mission_parse_UPDATE()

int mission_parse_UPDATE ( uint8_t * buf )

Definition at line 414 of file mission_common.c.

References _mission_element::duration, _mission_element::element, MISSION_CUSTOM_MAX, mission_get_from_index(), MissionCircle, MissionCustom, MissionPath, MissionSegment, MissionUpdate, MissionWP, and _mission_element::type.

Here is the call graph for this function:

◆ mission_register()

bool mission_register	(	mission_custom_cb	cb,
		char *	type
	)

Register a new navigation or action callback function.

Parameters

cb	callback f(nb, param array)
type	string identifier with 5 characters max (+ 1 '\0' char)

Returns: return TRUE if register is succesful, FALSE otherwise

Definition at line 135 of file mission_common.c.

References _mission_registered::cb, mission, MISSION_REGISTER_NB, MISSION_TYPE_SIZE, _mission::registered, and _mission_registered::type.

Referenced by nav_lace_init(), nav_line_init(), nav_rosette_init(), nav_spiral_3D_init(), nav_survey_hybrid_init(), nav_takeoff_and_landing_init(), and nav_trinity_init().

Here is the caller graph for this function:

◆ mission_status_report()

void mission_status_report ( void )

Report mission status.

Send mission status over datalink

Definition at line 188 of file mission_common.c.

References DefaultChannel, DefaultDevice, and send_mission_status().

Here is the call graph for this function:

◆ send_mission_status()

static void send_mission_status	(	struct transport_tx *	trans,
		struct link_device *	device
	)

static

Definition at line 45 of file mission_common.c.

References _mission::current_idx, _mission_element::duration, _mission::element_time, _mission::elements, _mission_element::index, _mission::insert_idx, mission, and MISSION_ELEMENT_NB.

Referenced by mission_init(), and mission_status_report().

Here is the caller graph for this function:

Variable Documentation

◆ mission

struct _mission mission = { 0 }

Definition at line 1 of file mission_common.c.

Referenced by mission_get(), mission_get_from_index(), mission_get_registered(), mission_init(), mission_insert(), mission_nav_circle(), mission_parse_END_MISSION(), mission_parse_GOTO_MISSION(), mission_parse_NEXT_MISSION(), mission_register(), mission_run(), and send_mission_status().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ MISSION_CHECK_UNIQUE_ID

Function Documentation

◆ mission_get()

◆ mission_get_from_index()

◆ mission_get_registered()

◆ mission_init()

◆ mission_insert()

◆ mission_parse_CIRCLE()

◆ mission_parse_CIRCLE_LLA()

◆ mission_parse_CUSTOM()

◆ mission_parse_END_MISSION()

◆ mission_parse_GOTO_MISSION()

◆ mission_parse_GOTO_WP()

◆ mission_parse_GOTO_WP_LLA()

◆ mission_parse_NEXT_MISSION()

◆ mission_parse_PATH()

◆ mission_parse_PATH_LLA()

◆ mission_parse_SEGMENT()

◆ mission_parse_SEGMENT_LLA()

◆ mission_parse_UPDATE()

◆ mission_register()

◆ mission_status_report()

◆ send_mission_status()

Variable Documentation

◆ mission