/// reset - reset mission to the first command void AP_Mission::reset() { _flags.nav_cmd_loaded = false; _flags.do_cmd_loaded = false; _flags.do_cmd_all_done = false; _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE; _do_cmd.index = AP_MISSION_CMD_INDEX_NONE; _prev_nav_cmd_index = AP_MISSION_CMD_INDEX_NONE; init_jump_tracking(); }
/// start - resets current commands to point to the beginning of the mission /// To-Do: should we validate the mission first and return true/false? void AP_Mission::start() { _flags.state = MISSION_RUNNING; _flags.nav_cmd_loaded = false; _flags.do_cmd_loaded = false; _flags.do_cmd_all_done = false; _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE; _do_cmd.index = AP_MISSION_CMD_INDEX_NONE; _prev_nav_cmd_index = AP_MISSION_CMD_INDEX_NONE; init_jump_tracking(); // advance to the first command if (!advance_current_nav_cmd()) { // on failure set mission complete complete(); } }
// set_current_cmd - jumps to command specified by index bool AP_Mission::set_current_cmd(uint16_t index) { Mission_Command cmd; // sanity check index and that we have a mission if (index >= (unsigned)_cmd_total || _cmd_total == 1) { return false; } // stop the current running do command _do_cmd.index = AP_MISSION_CMD_INDEX_NONE; _flags.do_cmd_loaded = false; _flags.do_cmd_all_done = false; // stop current nav cmd _flags.nav_cmd_loaded = false; // if index is zero then the user wants to completely restart the mission if (index == 0 || _flags.state == MISSION_COMPLETE) { _prev_nav_cmd_index = AP_MISSION_CMD_INDEX_NONE; // reset the jump tracking to zero init_jump_tracking(); if (index == 0) { index = 1; } } // if the mission is stopped or completed move the nav_cmd index to the specified point and set the state to stopped // so that if the user resumes the mission it will begin at the specified index if (_flags.state != MISSION_RUNNING) { // search until we find next nav command or reach end of command list while (!_flags.nav_cmd_loaded) { // get next command if (!get_next_cmd(index, cmd, true)) { _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE; return false; } // check if navigation or "do" command if (is_nav_cmd(cmd)) { // set current navigation command _nav_cmd = cmd; _flags.nav_cmd_loaded = true; }else{ // set current do command if (!_flags.do_cmd_loaded) { _do_cmd = cmd; _flags.do_cmd_loaded = true; } } // move onto next command index = cmd.index+1; } // if we got this far then the mission can safely be "resumed" from the specified index so we set the state to "stopped" _flags.state = MISSION_STOPPED; return true; } // the state must be MISSION_RUNNING // search until we find next nav command or reach end of command list while (!_flags.nav_cmd_loaded) { // get next command if (!get_next_cmd(index, cmd, true)) { // if we run out of nav commands mark mission as complete complete(); // return true because we did what was requested // which was apparently to jump to a command at the end of the mission return true; } // check if navigation or "do" command if (is_nav_cmd(cmd)) { // save previous nav command index _prev_nav_cmd_index = _nav_cmd.index; // set current navigation command and start it _nav_cmd = cmd; _flags.nav_cmd_loaded = true; _cmd_start_fn(_nav_cmd); }else{ // set current do command and start it (if not already set) if (!_flags.do_cmd_loaded) { _do_cmd = cmd; _flags.do_cmd_loaded = true; _cmd_start_fn(_do_cmd); } } // move onto next command index = cmd.index+1; } // if we got this far we must have successfully advanced the nav command return true; }