mission_common.h

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/*
 * Copyright (C) 2014 Paparazzi Team
 *
 * 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.
 *
 */

#ifndef MISSION_COMMON_H
#define MISSION_COMMON_H

#include "std.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_geodetic_int.h"

enum MissionType {
  MissionWP = 1,
  MissionCircle = 2,
  MissionSegment = 3,
  MissionPath = 4,
  MissionCustom = 5
};

enum MissionInsertMode {
  Append,         
  Prepend,        
  ReplaceCurrent, 
  ReplaceAll,     
  ReplaceNexts    
};

struct _mission_wp {
  union {
    struct EnuCoor_f wp_f;
    struct EnuCoor_i wp_i;
  } wp;
};

struct _mission_circle {
  union {
    struct EnuCoor_f center_f;
    struct EnuCoor_i center_i;
  } center;

  float radius;
};

struct _mission_segment {
  union {
    struct EnuCoor_f from_f;
    struct EnuCoor_i from_i;
  } from;

  union {
    struct EnuCoor_f to_f;
    struct EnuCoor_i to_i;
  } to;
};

#define MISSION_PATH_NB 5
struct _mission_path {
  union {
    struct EnuCoor_f path_f[MISSION_PATH_NB];
    struct EnuCoor_i path_i[MISSION_PATH_NB];
  } path;

  uint8_t path_idx;
  uint8_t nb;
};

#define MISSION_CUSTOM_MAX 12 // maximum number of parameters
#define MISSION_TYPE_SIZE 6

typedef bool (*mission_custom_cb)(uint8_t nb, float *params, bool init);

struct _mission_registered {
  mission_custom_cb cb;         
  char type[MISSION_TYPE_SIZE]; 
};

struct _mission_custom {
  struct _mission_registered *reg;  
  float params[MISSION_CUSTOM_MAX]; 
  uint8_t nb;                       
};

struct _mission_element {
  enum MissionType type;
  union {
    struct _mission_wp mission_wp;
    struct _mission_circle mission_circle;
    struct _mission_segment mission_segment;
    struct _mission_path mission_path;
    struct _mission_custom mission_custom;
  } element;

  float duration; 
  uint8_t index;      
};

#ifndef MISSION_ELEMENT_NB
#define MISSION_ELEMENT_NB 20
#endif

#ifndef MISSION_REGISTER_NB
#define MISSION_REGISTER_NB 6
#endif

struct _mission {
  struct _mission_element elements[MISSION_ELEMENT_NB];
  struct _mission_registered registered[MISSION_REGISTER_NB];
  float element_time;   
  uint8_t insert_idx;   
  uint8_t current_idx;  
};

extern struct _mission mission;

extern void mission_init(void);

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

extern bool mission_register(mission_custom_cb cb, char *type);

extern bool mission_element_convert(struct _mission_element *el);

extern struct _mission_element *mission_get(void);

extern bool mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla);

extern int mission_run(void);

extern void mission_status_report(void);

extern int mission_parse_GOTO_WP(uint8_t *buf);
extern int mission_parse_GOTO_WP_LLA(uint8_t *buf);
extern int mission_parse_CIRCLE(uint8_t *buf);
extern int mission_parse_CIRCLE_LLA(uint8_t *buf);
extern int mission_parse_SEGMENT(uint8_t *buf);
extern int mission_parse_SEGMENT_LLA(uint8_t *buf);
extern int mission_parse_PATH(uint8_t *buf);
extern int mission_parse_PATH_LLA(uint8_t *buf);
extern int mission_parse_CUSTOM(uint8_t *buf);
extern int mission_parse_GOTO_MISSION(uint8_t *buf);
extern int mission_parse_NEXT_MISSION(uint8_t *buf);
extern int mission_parse_END_MISSION(uint8_t *buf);

#endif // MISSION_COMMON_H