Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
Functions | Variables
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

◆ mission_element_convert()

bool mission_element_convert ( struct _mission_element *  el)

Convert mission element's points format if needed.

Parameters
elpointer 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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◆ 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 130 of file mission_common.c.

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

Referenced by mission_run().

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◆ mission_get_registered()

static struct _mission_registered* mission_get_registered ( char *  type)
static

Definition at line 115 of file mission_common.c.

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

Referenced by mission_parse_CUSTOM().

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◆ mission_init()

void mission_init ( void  )

Init mission structure.

Definition at line 37 of file mission_common.c.

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

◆ mission_insert()

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

Insert a mission element according to the insertion mode.

Parameters
insertinsertion mode
elementmission 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, 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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◆ mission_parse_CIRCLE()

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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◆ mission_parse_CIRCLE_LLA()

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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◆ mission_parse_CUSTOM()

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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◆ mission_parse_END_MISSION()

int mission_parse_END_MISSION ( uint8_t *  buf)

Definition at line 404 of file mission_common.c.

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

◆ mission_parse_GOTO_MISSION()

int mission_parse_GOTO_MISSION ( uint8_t *  buf)

Definition at line 381 of file mission_common.c.

References _mission::current_idx, 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 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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◆ mission_parse_GOTO_WP_LLA()

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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◆ mission_parse_NEXT_MISSION()

int mission_parse_NEXT_MISSION ( uint8_t *  buf)

Definition at line 393 of file mission_common.c.

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

◆ mission_parse_PATH()

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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◆ mission_parse_PATH_LLA()

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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◆ mission_parse_SEGMENT()

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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◆ mission_parse_SEGMENT_LLA()

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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◆ mission_register()

bool mission_register ( mission_custom_cb  cb,
char *  type 
)

Register a new navigation or action callback function.

Parameters
cbcallback f(nb, param array)
typestring 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, MISSION_REGISTER_NB, MISSION_TYPE_SIZE, _mission::registered, type(), and _mission_registered::type.

Referenced by nav_flower_init().

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◆ mission_status_report()

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, mission, and MISSION_ELEMENT_NB.

Variable Documentation

◆ mission

struct _mission mission = { 0 }

Definition at line 35 of file mission_common.c.

Referenced by mission_get(), 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 mission_status_report().