FlightTasks.hpp

/****************************************************************************
 *
 *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#pragma once

#include "FlightTask.hpp"
#include "SubscriptionArray.hpp"
#include "FlightTasks_generated.hpp"
#include <lib/WeatherVane/WeatherVane.hpp>

#include <new>

class FlightTasks
{
public:
    FlightTasks();

    ~FlightTasks()
    {
        if (_current_task.task) {
            _current_task.task->~FlightTask();
        }
    }

    bool update();

    const vehicle_local_position_setpoint_s getPositionSetpoint();

    const vehicle_constraints_s getConstraints();

    const landing_gear_s getGear();

    const vehicle_trajectory_waypoint_s getAvoidanceWaypoint();

    const vehicle_trajectory_waypoint_s &getEmptyAvoidanceWaypoint();

    int switchTask() { return switchTask(static_cast<int>(_current_task.index) + 1); }

    int switchTask(FlightTaskIndex new_task_index);
    int switchTask(int new_task_index);

    int getActiveTask() const { return static_cast<int>(_current_task.index); }

    bool isAnyTaskActive() const { return _current_task.task; }

    void handleParameterUpdate();

    const char *errorToString(const int error);

    void setYawHandler(WeatherVane *ext_yaw_handler) {_current_task.task->setYawHandler(ext_yaw_handler);}

    void reActivate();

    void updateVelocityControllerIO(const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp) {_current_task.task->updateVelocityControllerIO(vel_sp, thrust_sp); }

private:

    TaskUnion _task_union; 
    struct flight_task_t {
        FlightTask *task;
        FlightTaskIndex index;
    };
    flight_task_t _current_task = {nullptr, FlightTaskIndex::None};

    SubscriptionArray _subscription_array;

    struct task_error_t {
        int error;
        const char *msg;
    };

    static const int _numError = 4;
    task_error_t _taskError[_numError] = {
        {0, "No Error"},
        {-1, "Invalid Task "},
        {-2, "Subscription Failed"},
        {-3, "Activation Failed"}
    };
    void _updateCommand();
    FlightTaskIndex switchVehicleCommand(const int command);
    int _sub_vehicle_command = -1; 
    orb_advert_t _pub_vehicle_command_ack = nullptr; 
    int _initTask(FlightTaskIndex task_index);
};