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_cmd_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 {
		gcs_send_text_fmt(PSTR("Received Request - jump to command #%i"),cmd_index);
		nav_command_ID 	= NO_COMMAND;
		next_nav_command.id = NO_COMMAND;
		non_nav_command_ID = NO_COMMAND;
		nav_command_index = cmd_index - 1;
		g.command_index.set_and_save(cmd_index - 1);
		process_next_command();
	}
}
		

// called by 10 Hz loop
// --------------------
static void update_commands(void)
{
	if(home_is_set == false){
		return;	// don't do commands
	}

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

static void verify_commands(void)
{
	if(verify_nav_command()){
		nav_command_ID 	= NO_COMMAND;
	}

	if(verify_condition_command()){
		non_nav_command_ID		= NO_COMMAND;
	}
}


static void process_next_command()
{
	// This function makes sure that we always have a current navigation command
	// and loads conditional or immediate commands if applicable
	
	struct Location temp;
	byte old_index = 0;
	
	// these are Navigation/Must commands
	// ---------------------------------
	if (nav_command_ID == NO_COMMAND){ // no current navigation command loaded
		old_index = nav_command_index;
		temp.id = MAV_CMD_NAV_LAST;
		while(temp.id >= MAV_CMD_NAV_LAST && nav_command_index <= g.command_total) {
			nav_command_index++;
			temp = get_cmd_with_index(nav_command_index);
		}
		gcs_send_text_fmt(PSTR("Nav command index updated to #%i"),nav_command_index);
		if(nav_command_index > g.command_total){
			// we are out of commands!
			gcs_send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
			handle_no_commands();
		} else {
			next_nav_command = temp;
			nav_command_ID = next_nav_command.id;
			non_nav_command_index = NO_COMMAND;			// This will cause the next intervening non-nav command (if any) to be loaded
			non_nav_command_ID = NO_COMMAND;
		
			if (g.log_bitmask & MASK_LOG_CMD) {
				Log_Write_Cmd(g.command_index, &next_nav_command);
			}
			process_nav_cmd();
		}
	}

	// these are Condition/May and Do/Now commands
	// -------------------------------------------
	if (non_nav_command_index == NO_COMMAND) {		// If the index is NO_COMMAND then we have just loaded a nav command
		non_nav_command_index = old_index + 1;
		//gcs_send_text_fmt(PSTR("Non-Nav command index #%i"),non_nav_command_index);
	} else if (non_nav_command_ID == NO_COMMAND) {	// If the ID is NO_COMMAND then we have just completed a non-nav command
		non_nav_command_index++;
	}
	
		//gcs_send_text_fmt(PSTR("Nav command index #%i"),nav_command_index);
		//gcs_send_text_fmt(PSTR("Non-Nav command index #%i"),non_nav_command_index);
		//gcs_send_text_fmt(PSTR("Non-Nav command ID #%i"),non_nav_command_ID);
	if(nav_command_index <= (int)g.command_total && non_nav_command_ID == NO_COMMAND) {
		temp = get_cmd_with_index(non_nav_command_index);
		if(temp.id <= MAV_CMD_NAV_LAST) {		// The next command is a nav command.  No non-nav commands to do
			g.command_index.set_and_save(nav_command_index);
			non_nav_command_index = nav_command_index;
			non_nav_command_ID = WAIT_COMMAND;
		gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID);
		} else {								// The next command is a non-nav command.  Prepare to execute it.
			g.command_index.set_and_save(non_nav_command_index);
			next_nonnav_command = temp;
			non_nav_command_ID = next_nonnav_command.id;
		gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID);
			if (g.log_bitmask & MASK_LOG_CMD) {
				Log_Write_Cmd(g.command_index, &next_nonnav_command);
			}
			
			process_non_nav_command();	
		}

	}
}

/**************************************************/
//  These functions implement the commands.
/**************************************************/
static void process_nav_cmd()
{
	//gcs_send_text_P(SEVERITY_LOW,PSTR("New nav command loaded"));

	// clear non-nav command ID and index
	non_nav_command_index	= NO_COMMAND;		// Redundant - remove?
	non_nav_command_ID		= NO_COMMAND;		// Redundant - remove?

	handle_process_nav_cmd();

}

static void process_non_nav_command()
{
	//gcs_send_text_P(SEVERITY_LOW,PSTR("new non-nav command loaded"));

	if(non_nav_command_ID < MAV_CMD_CONDITION_LAST) {
		handle_process_condition_command();
	} else { 
		handle_process_do_command();
		// flag command ID so a new one is loaded
		// -----------------------------------------
		non_nav_command_ID = NO_COMMAND;
	}
}