mission_common.c File Reference

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 "subsystems/datalink/datalink.h"
#include "subsystems/datalink/downlink.h"

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Functions
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)
bool	mission_element_convert (struct _mission_element *el)
	Convert mission element's points format if needed. 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_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.

Function Documentation

bool mission_element_convert

(

struct _mission_element *

el

)

Convert mission element's points format if needed.

Parameters

el	pointer to the mission element

Returns

return TRUE if conversion is succesful, FALSE otherwise

Definition at line 126 of file mission_common.c.

Referenced by mission_insert().

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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 130 of file mission_common.c.

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

Referenced by mission_run().

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static struct _mission_registered* mission_get_registered ( char *  type )

static

Definition at line 115 of file mission_common.c.

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

Referenced by mission_parse_CUSTOM().

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void mission_init

(

void

)

Init mission structure.

Definition at line 37 of file mission_common.c.

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

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 55 of file mission_common.c.

References Append, _mission::current_idx, _mission::elements, _mission::insert_idx, mission_element_convert(), MISSION_ELEMENT_NB, 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().

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int mission_parse_CIRCLE

(

uint8_t *

buf

)

Definition at line 203 of file mission_common.c.

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

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int mission_parse_CIRCLE_LLA

(

uint8_t *

buf

)

Definition at line 221 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.

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int mission_parse_CUSTOM

(

uint8_t *

buf

)

Definition at line 359 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.

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int mission_parse_END_MISSION

(

uint8_t *

buf

)

Definition at line 404 of file mission_common.c.

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

int mission_parse_GOTO_MISSION

(

uint8_t *

buf

)

Definition at line 381 of file mission_common.c.

References _mission::current_idx, and MISSION_ELEMENT_NB.

int mission_parse_GOTO_WP

(

uint8_t *

buf

)

Parsing functions called when a mission message is received.

Definition at line 165 of file mission_common.c.

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

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int mission_parse_GOTO_WP_LLA

(

uint8_t *

buf

)

Definition at line 182 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.

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int mission_parse_NEXT_MISSION

(

uint8_t *

buf

)

Definition at line 393 of file mission_common.c.

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

int mission_parse_PATH

(

uint8_t *

buf

)

Definition at line 288 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.

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int mission_parse_PATH_LLA

(

uint8_t *

buf

)

Definition at line 320 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.

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int mission_parse_SEGMENT

(

uint8_t *

buf

)

Definition at line 243 of file mission_common.c.

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

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int mission_parse_SEGMENT_LLA

(

uint8_t *

buf

)

Definition at line 263 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.

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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 99 of file mission_common.c.

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

Referenced by nav_flower_init().

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void mission_status_report

(

void

)

Report mission status.

Send mission status over datalink

Definition at line 140 of file mission_common.c.

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

Variable Documentation

struct _mission mission = { 0 }

Definition at line 35 of file mission_common.c.

Referenced by mission_nav_circle(), and mission_run().