mirror of https://github.com/ArduPilot/ardupilot
63 lines
2.4 KiB
C++
63 lines
2.4 KiB
C++
/// @file AP_Mission_ChangeDetector.cpp
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/// @brief Detects changes in the next few nav commands in the mission
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#include "AP_Mission_ChangeDetector.h"
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#if AP_MISSION_ENABLED
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// detect external changes to mission
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bool AP_Mission_ChangeDetector::check_for_mission_change()
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{
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AP_Mission *mission = AP::mission();
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if (mission == nullptr) {
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return false;
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}
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// check if mission has been updated
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const uint32_t change_time_ms = mission->last_change_time_ms();
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const bool update_time_changed = (change_time_ms != mis_change_detect.last_change_time_ms);
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// check if active command index has changed
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const uint16_t curr_cmd_idx = mission->get_current_nav_index();
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const bool curr_cmd_idx_changed = (curr_cmd_idx != mis_change_detect.curr_cmd_index);
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// no changes if neither mission update time nor active command index has changed
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if (!update_time_changed && !curr_cmd_idx_changed) {
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return false;
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}
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// the mission has been updated (but maybe not changed) and/or the current command index has changed
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// check the contents of the next three commands to ensure they have not changed
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// and update storage so we can detect future changes
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bool cmds_changed = false; // true if upcoming command contents have changed
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// retrieve cmds from mission and compare with mis_change_detect
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uint8_t num_cmds = 0;
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uint16_t cmd_idx = curr_cmd_idx;
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AP_Mission::Mission_Command cmd[mis_change_detect_cmd_max];
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while ((num_cmds < ARRAY_SIZE(cmd)) && mission->get_next_nav_cmd(cmd_idx, cmd[num_cmds])) {
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num_cmds++;
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if ((num_cmds > mis_change_detect.cmd_count) || (cmd[num_cmds-1] != mis_change_detect.cmd[num_cmds-1])) {
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cmds_changed = true;
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mis_change_detect.cmd[num_cmds-1] = cmd[num_cmds-1];
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}
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cmd_idx = cmd[num_cmds-1].index+1;
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}
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// mission has changed if number of upcoming commands does not match mis_change_detect
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if (num_cmds != mis_change_detect.cmd_count) {
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cmds_changed = true;
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}
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// update mis_change_detect with last change time, command index and number of commands
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mis_change_detect.last_change_time_ms = change_time_ms;
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mis_change_detect.curr_cmd_index = curr_cmd_idx;
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mis_change_detect.cmd_count = num_cmds;
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// mission has changed if upcoming command contents have changed without the current command index changing
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return cmds_changed && !curr_cmd_idx_changed;
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}
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#endif // AP_MISSION_ENABLED
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