/// advance_current_nav_cmd - moves current nav command forward
/// do command will also be loaded
/// accounts for do-jump commands
// returns true if command is advanced, false if failed (i.e. mission completed)
bool AP_Mission::advance_current_nav_cmd()
{
Mission_Command cmd;
uint16_t cmd_index;
// exit immediately if we're not running
if (_flags.state != MISSION_RUNNING) {
return false;
}
// exit immediately if current nav command has not completed
if (_flags.nav_cmd_loaded) {
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;
// get starting point for search
cmd_index = _nav_cmd.index;
if (cmd_index == AP_MISSION_CMD_INDEX_NONE) {
// start from beginning of the mission command list
cmd_index = AP_MISSION_FIRST_REAL_COMMAND;
}else{
// start from one position past the current nav command
cmd_index++;
}
// 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(cmd_index, cmd, true)) {
return false;
}
// 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
cmd_index = cmd.index+1;
}
// if we got this far we must have successfully advanced the nav command
return true;
}
/// get_next_nav_cmd - gets next "navigation" command found at or after start_index
/// returns true if found, false if not found (i.e. reached end of mission command list)
/// accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this)
bool AP_Mission::get_next_nav_cmd(uint16_t start_index, Mission_Command& cmd)
{
uint16_t cmd_index = start_index;
Mission_Command temp_cmd;
// search until the end of the mission command list
while(cmd_index < (unsigned)_cmd_total) {
// get next command
if (!get_next_cmd(cmd_index, temp_cmd, false)) {
// no more commands so return failure
return false;
}else{
// if found a "navigation" command then return it
if (is_nav_cmd(temp_cmd)) {
cmd = temp_cmd;
return true;
}else{
// move on in list
cmd_index++;
}
}
}
// if we got this far we did not find a navigation command
return false;
}
/// get_next_do_cmd - gets next "do" or "conditional" command after start_index
/// returns true if found, false if not found
/// stops and returns false if it hits another navigation command before it finds the first do or conditional command
/// accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this)
bool AP_Mission::get_next_do_cmd(uint16_t start_index, Mission_Command& cmd)
{
Mission_Command temp_cmd;
// check we have not passed the end of the mission list
if (start_index >= (unsigned)_cmd_total) {
return false;
}
// get next command
if (!get_next_cmd(start_index, temp_cmd, false)) {
// no more commands so return failure
return false;
}else if (is_nav_cmd(temp_cmd)) {
// if it's a "navigation" command then return false because we do not progress past nav commands
return false;
}else{
// this must be a "do" or "conditional" and is not a do-jump command so return it
cmd = temp_cmd;
return true;
}
}
// 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;
}
