mission_manager.c

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/*
 * Copyright (C) 2015 Lodewijk Sikkel <l.n.c.sikkel@tudelft.nl>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
 
// Include own header
#include "modules/datalink/missionlib/mission_manager.h"
 
#include "modules/datalink/mavlink.h"
#include "modules/datalink/missionlib/blocks.h"
#include "modules/datalink/missionlib/waypoints.h"
 
// include mavlink headers, but ignore some warnings
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
#pragma GCC diagnostic ignored "-Wswitch-default"
#include "mavlink/paparazzi/mavlink.h"
#pragma GCC diagnostic pop
 
// for waypoints, include correct header until we have unified API
#if defined(FIXEDWING_FIRMWARE)
#include "modules/nav/common_nav.h"
#elif defined(ROTORCRAFT_FIRMWARE)
#include "firmwares/rotorcraft/navigation.h"
#else
#error "Mission manager: unsupported firmware"
#endif
#include "generated/flight_plan.h"
 
#include "mcu_periph/sys_time.h"
 
 
void mavlink_mission_init(mavlink_mission_mgr *mgr)
{
  mgr->seq = 0;
  mgr->timer_id = -1;
}
 
void mavlink_mission_set_timer(void)
{
  if (mission_mgr.timer_id < 0) {
    mission_mgr.timer_id = sys_time_register_timer(MAVLINK_TIMEOUT, NULL);
  }
  else {
    sys_time_update_timer(mission_mgr.timer_id, MAVLINK_TIMEOUT);
  }
}
 
void mavlink_mission_cancel_timer(void)
{
  if (mission_mgr.timer_id >= 0) {
    sys_time_cancel_timer(mission_mgr.timer_id);
  }
  mission_mgr.timer_id = -1;
}
 
void mavlink_mission_message_handler(const mavlink_message_t *msg)
{
  mavlink_block_message_handler(msg);
 
  mavlink_wp_message_handler(msg);
 
  if (msg->msgid == MAVLINK_MSG_ID_MISSION_ACK) {
    MAVLINK_DEBUG("Received MISSION_ACK message\n");
    mavlink_mission_cancel_timer();
    mission_mgr.state = STATE_IDLE;
    MAVLINK_DEBUG("State: %d\n", mission_mgr.state);
  }
}
 
void mavlink_mission_periodic(void)
{
  // FIXME: really use the SCRIPT_ITEM message to indicate current block?
  if (mission_mgr.current_block != nav_block) {
    mission_mgr.current_block = nav_block;
    mavlink_msg_script_current_send(MAVLINK_COMM_0, nav_block);
    MAVLinkSendMessage();
  }
  // check if we had a timeout on a transaction
  if (sys_time_check_and_ack_timer(mission_mgr.timer_id)) {
    mavlink_mission_cancel_timer();
    mission_mgr.state = STATE_IDLE;
    mission_mgr.seq = 0;
    MAVLINK_DEBUG("Warning: Mavlink mission request timed out!\n");
  }
}
 
void mavlink_send_mission_ack(void)
{
  mavlink_msg_mission_ack_send(MAVLINK_COMM_0,  mission_mgr.rem_sysid, mission_mgr.rem_compid,
                               MAV_MISSION_ACCEPTED, MAV_MISSION_TYPE_MISSION);
  MAVLinkSendMessage();
  MAVLINK_DEBUG("Sent MISSION_ACK message\n");
}