mission_common.c File Reference

messages parser for mission interface More...

#include "modules/mission/mission_common.h"
#include <string.h>
#include "subsystems/navigation/common_nav.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_t	mission_insert (enum MissionInsertMode insert, struct _mission_element *element)
	Insert a mission element according to the insertion mode. More...
bool_t	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 (void)
	Parsing functions called when a mission message is received. More...
int	mission_parse_GOTO_WP_LLA (void)
int	mission_parse_CIRCLE (void)
int	mission_parse_CIRCLE_LLA (void)
int	mission_parse_SEGMENT (void)
int	mission_parse_SEGMENT_LLA (void)
int	mission_parse_PATH (void)
int	mission_parse_PATH_LLA (void)
int	mission_parse_GOTO_MISSION (void)
int	mission_parse_NEXT_MISSION (void)
int	mission_parse_END_MISSION (void)

Variables
struct _mission	mission

Detailed Description

messages parser for mission interface

Definition in file mission_common.c.

Function Documentation

bool_t 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 87 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 91 of file mission_common.c.

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

Referenced by mission_run().

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void mission_init

(

void

)

Init mission structure.

Definition at line 38 of file mission_common.c.

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

bool_t 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 47 of file mission_common.c.

References Append, _mission::current_idx, _mission::elements, FALSE, _mission::insert_idx, mission, mission_element_convert(), MISSION_ELEMENT_NB, Prepend, ReplaceAll, ReplaceCurrent, and TRUE.

Referenced by mission_parse_CIRCLE(), mission_parse_CIRCLE_LLA(), 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

(

void

)

Definition at line 162 of file mission_common.c.

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

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int mission_parse_CIRCLE_LLA

(

void

)

Definition at line 179 of file mission_common.c.

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

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int mission_parse_END_MISSION

(

void

)

Definition at line 335 of file mission_common.c.

References _mission::current_idx, dl_buffer, FALSE, _mission::insert_idx, mission, and TRUE.

int mission_parse_GOTO_MISSION

(

void

)

Definition at line 312 of file mission_common.c.

References _mission::current_idx, dl_buffer, FALSE, mission, MISSION_ELEMENT_NB, and TRUE.

int mission_parse_GOTO_WP

(

void

)

Parsing functions called when a mission message is received.

Definition at line 126 of file mission_common.c.

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

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int mission_parse_GOTO_WP_LLA

(

void

)

Definition at line 142 of file mission_common.c.

References LlaCoor_i::alt, dl_buffer, _mission_element::duration, _mission_element::element, FALSE, 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

(

void

)

Definition at line 324 of file mission_common.c.

References _mission::current_idx, dl_buffer, FALSE, _mission::insert_idx, mission, MISSION_ELEMENT_NB, and TRUE.

int mission_parse_PATH

(

void

)

Definition at line 243 of file mission_common.c.

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

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int mission_parse_PATH_LLA

(

void

)

Definition at line 274 of file mission_common.c.

References LlaCoor_i::alt, dl_buffer, _mission_element::duration, _mission_element::element, FALSE, 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

(

void

)

Definition at line 200 of file mission_common.c.

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

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int mission_parse_SEGMENT_LLA

(

void

)

Definition at line 219 of file mission_common.c.

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

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void mission_status_report

(

void

)

Report mission status.

Send mission status over datalink

Definition at line 101 of file mission_common.c.

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

Variable Documentation

struct _mission mission

Definition at line 36 of file mission_common.c.

Referenced by mission_get(), mission_init(), mission_insert(), mission_nav_circle(), mission_parse_END_MISSION(), mission_parse_GOTO_MISSION(), mission_parse_NEXT_MISSION(), mission_run(), and mission_status_report().