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Mission: reduce unnecessary search for do-commands 

do_cmd_all_done flag is set after all do-commands are complete
This commit is contained in:
Randy Mackay 2014-02-28 22:37:02 +09:00
parent 0c92d60406
commit c7ffd2db90
2 changed files with 9 additions and 5 deletions
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13
libraries/AP_Mission/AP_Mission.cpp
View File

@ -31,6 +31,7 @@ void AP_Mission::start()
_flags.state = MISSION_RUNNING; _flags.state = MISSION_RUNNING;
_flags.nav_cmd_loaded = false; _flags.nav_cmd_loaded = false;
_flags.do_cmd_loaded = false; _flags.do_cmd_loaded = false;
_flags.do_cmd_all_done = false;
_nav_cmd.index = AP_MISSION_CMD_INDEX_NONE; _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE; _do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_prev_nav_cmd_index = AP_MISSION_CMD_INDEX_NONE; _prev_nav_cmd_index = AP_MISSION_CMD_INDEX_NONE;
@ -627,6 +628,7 @@ bool AP_Mission::advance_current_nav_cmd()
// stop the current running do command // stop the current running do command
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE; _do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_flags.do_cmd_loaded = false; _flags.do_cmd_loaded = false;
_flags.do_cmd_all_done = false;
// get starting point for search // get starting point for search
cmd_index = _nav_cmd.index; cmd_index = _nav_cmd.index;
@ -675,8 +677,8 @@ void AP_Mission::advance_current_do_cmd()
Mission_Command cmd; Mission_Command cmd;
uint16_t cmd_index; uint16_t cmd_index;
// exit immediately if we're not running // exit immediately if we're not running or we've completed all possible "do" commands
if (_flags.state != MISSION_RUNNING) { if (_flags.state != MISSION_RUNNING || _flags.do_cmd_all_done) {
return; return;
} }
@ -691,7 +693,8 @@ void AP_Mission::advance_current_do_cmd()
// check if we've reached end of mission // check if we've reached end of mission
if (cmd_index >= _cmd_total) { if (cmd_index >= _cmd_total) {
// To-Do: set a flag to stop us from attempting to look for do-commands over and over? // set flag to stop unnecessarily searching for do commands
_flags.do_cmd_all_done = true;
return; return;
} }
@ -701,8 +704,8 @@ void AP_Mission::advance_current_do_cmd()
_do_cmd = cmd; _do_cmd = cmd;
_cmd_start_fn(_do_cmd); _cmd_start_fn(_do_cmd);
}else{ }else{
// To-Do: set a flag to stop us from attempting to look for do-commands over and over? // set flag to stop unnecessarily searching for do commands
// if added this flag should be reset once we advance the nav command _flags.do_cmd_all_done = true;
} }
} }

1
libraries/AP_Mission/AP_Mission.h
View File

@ -186,6 +186,7 @@ private:
mission_state state; mission_state state;
uint8_t nav_cmd_loaded : 1; // true if a "navigation" command has been loaded into _nav_cmd uint8_t nav_cmd_loaded : 1; // true if a "navigation" command has been loaded into _nav_cmd
uint8_t do_cmd_loaded : 1; // true if a "do"/"conditional" command has been loaded into _do_cmd uint8_t do_cmd_loaded : 1; // true if a "do"/"conditional" command has been loaded into _do_cmd
uint8_t do_cmd_all_done : 1; // true if all "do"/"conditional" commands have been completed (stops unnecessary searching through eeprom for do commands)
} _flags; } _flags;
/// ///