ardupilot/ArduPlane/commands_process.pde

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

// For changing active command mid-mission
//----------------------------------------
static void change_command(uint8_t cmd_index)
{ 
	struct Location temp = get_wp_with_index(cmd_index);
	if (temp.id > MAV_CMD_NAV_LAST ){
		gcs.send_text_P(SEVERITY_LOW,PSTR("Bad Request - cannot change to non-Nav cmd"));
	} else {
		command_must_index 	= NO_COMMAND;
		next_command.id = NO_COMMAND;
		g.waypoint_index.set_and_save(cmd_index - 1);
		load_next_command_from_EEPROM();
		process_next_command();
	}
}
		

// called by 10 Hz loop
// --------------------
static void update_commands(void)
{
	// This function loads commands into three buffers
	// when a new command is loaded, it is processed with process_XXX()
	// ----------------------------------------------------------------
	if(home_is_set == false){
		return;	// don't do commands
	}

	if(control_mode == AUTO){
		load_next_command_from_EEPROM();
		process_next_command();
	}									// Other (eg GCS_Auto) modes may be implemented here
}

static void verify_commands(void)
{
	if(verify_must()){
		command_must_index 	= NO_COMMAND;
	}

	if(verify_may()){
		command_may_index 	= NO_COMMAND;
		command_may_ID		= NO_COMMAND;
	}
}

static void load_next_command_from_EEPROM()
{
	// fetch next command if the next command queue is empty
	// -----------------------------------------------------
	if(next_command.id == NO_COMMAND){
		next_command = get_wp_with_index(g.waypoint_index + 1);
	}

	// If the preload failed, return or just Loiter
	// generate a dynamic command for RTL
	// --------------------------------------------
	if(next_command.id == NO_COMMAND){
		// we are out of commands!
		gcs.send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
		handle_no_commands();
	}
}

static void process_next_command()
{
	// these are Navigation/Must commands
	// ---------------------------------
	if (command_must_index == 0){ // no current command loaded
		if (next_command.id < MAV_CMD_NAV_LAST ){
			increment_WP_index();
			//save_command_index();			// TO DO - fix - to Recover from in air Restart
			command_must_index = g.waypoint_index;

			//SendDebug_P("MSG <process_next_command> new command_must_id ");
			//SendDebug(next_command.id,DEC);
			//SendDebug_P(" index:");
			//SendDebugln(command_must_index,DEC);
			if (g.log_bitmask & MASK_LOG_CMD)
				Log_Write_Cmd(g.waypoint_index, &next_command);
			process_must();
		}
	}

	// these are Condition/May commands
	// ----------------------
	if (command_may_index == 0){
		if (next_command.id > MAV_CMD_NAV_LAST && next_command.id < MAV_CMD_CONDITION_LAST ){
			increment_WP_index();		// this command is from the command list in EEPROM
			command_may_index = g.waypoint_index;
				//SendDebug_P("MSG <process_next_command> new command_may_id ");
				//SendDebug(next_command.id,DEC);
				//Serial.printf_P(PSTR("new command_may_index "));
				//Serial.println(command_may_index,DEC);
			if (g.log_bitmask & MASK_LOG_CMD)
				Log_Write_Cmd(g.waypoint_index, &next_command);
			process_may();
		}

		// these are Do/Now commands
		// ---------------------------
		if (next_command.id > MAV_CMD_CONDITION_LAST){
			increment_WP_index();		// this command is from the command list in EEPROM
				//SendDebug_P("MSG <process_next_command> new command_now_id ");
				//SendDebug(next_command.id,DEC);
			if (g.log_bitmask & MASK_LOG_CMD)
				Log_Write_Cmd(g.waypoint_index, &next_command);
			process_now();
		}
	}
}

/**************************************************/
//  These functions implement the commands.
/**************************************************/
static void process_must()
{
	gcs.send_text_P(SEVERITY_LOW,PSTR("New cmd: <process_must>"));
	gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);

	// clear May indexes
	command_may_index	= NO_COMMAND;
	command_may_ID		= NO_COMMAND;

	command_must_ID 	= next_command.id;
	handle_process_must();

	// invalidate command so a new one is loaded
	// -----------------------------------------
	next_command.id		= NO_COMMAND;
}

static void process_may()
{
	gcs.send_text_P(SEVERITY_LOW,PSTR("<process_may>"));
	gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);

	command_may_ID = next_command.id;
	handle_process_may();

	// invalidate command so a new one is loaded
	// -----------------------------------------
	next_command.id = NO_COMMAND;
}

static void process_now()
{
	handle_process_now();

	// invalidate command so a new one is loaded
	// -----------------------------------------
	next_command.id = NO_COMMAND;

	gcs.send_text(SEVERITY_LOW, "<process_now>");
	gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
}