bool
TaskManager::Update(const AircraftState &state,
const AircraftState &state_last)
{
if (!state.location.IsValid()) {
/* in case of GPS failure or and during startup (before the first
GPS fix), update only the stats */
UpdateCommonStats(state);
return false;
}
/* always update ordered task so even if we are temporarily in a
different mode, so the task stats are still updated. Otherwise,
the task stats would freeze and sampling etc would not be
performed. In actual use, even if you are in Abort/Goto you
still may want to go back to the task and have it know where you
went with respect to your task turnpoints etc. */
bool retval = false;
if (state_last.time > state.time)
Reset();
if (task_ordered.TaskSize() > 1)
// always update ordered task
retval |= task_ordered.Update(state, state_last, glide_polar);
// inform the abort task whether it is running as the task or not
task_abort.SetActive(active_task == &task_abort);
// and tell it where the task destination is (if any)
const GeoPoint *destination = &state.location;
if (task_behaviour.abort_task_mode == AbortTaskMode::HOME) {
const Waypoint *home = task_abort.GetHome();
if (home)
destination = &home->location;
} else if (task_behaviour.abort_task_mode == AbortTaskMode::TASK) {
const TaskWaypoint *twp = GetActiveTaskPoint();
if (twp)
destination = &(twp->GetLocationRemaining());
}
task_abort.SetTaskDestination(*destination);
retval |= task_abort.Update(state, state_last, GetReachPolar());
if (active_task && active_task != &task_ordered &&
active_task != &task_abort)
// update mode task for any that have not yet run
retval |= active_task->Update(state, state_last, glide_polar);
UpdateCommonStats(state);
return retval;
}
bool
TaskManager::Update(const AircraftState &state,
const AircraftState &state_last)
{
/* always update ordered task so even if we are temporarily in a
different mode, so the task stats are still updated. Otherwise,
the task stats would freeze and sampling etc would not be
performed. In actual use, even if you are in Abort/Goto you
still may want to go back to the task and have it know where you
went with respect to your task turnpoints etc. */
bool retval = false;
if (!negative(state_last.time) && !negative(state.time) &&
state_last.time > state.time)
/* time warp */
Reset();
if (ordered_task->TaskSize() > 1) {
// always update ordered task
retval |= ordered_task->Update(state, state_last, glide_polar);
}
// inform the abort task whether it is running as the task or not
abort_task->SetActive(active_task == abort_task);
// and tell it where the task destination is (if any)
const GeoPoint *destination = &state.location;
if (task_behaviour.abort_task_mode == AbortTaskMode::HOME) {
const auto home = abort_task->GetHome();
if (home)
destination = &home->location;
} else if (task_behaviour.abort_task_mode == AbortTaskMode::TASK) {
const OrderedTaskPoint *twp = (const OrderedTaskPoint *)
ordered_task->GetActiveTaskPoint();
if (twp)
destination = &(twp->GetLocationRemaining());
}
abort_task->SetTaskDestination(*destination);
retval |= abort_task->Update(state, state_last, GetReachPolar());
if (active_task && active_task != ordered_task &&
active_task != abort_task)
// update mode task for any that have not yet run
retval |= active_task->Update(state, state_last, glide_polar);
UpdateCommonStats(state);
return retval;
}
