mission_block.h

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/**
 * @file mission_block.h
 *
 * Helper class to use mission items
 *
 * @author Julian Oes <julian@oes.ch>
 */

#pragma once

#include "navigator_mode.h"
#include "navigation.h"

#include <drivers/drv_hrt.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vtol_vehicle_status.h>

class Navigator;

class MissionBlock : public NavigatorMode
{
public:
    /**
     * Constructor
     */
    MissionBlock(Navigator *navigator);
    virtual ~MissionBlock() = default;

    MissionBlock(const MissionBlock &) = delete;
    MissionBlock &operator=(const MissionBlock &) = delete;

    static bool item_contains_position(const mission_item_s &item);

protected:
    /**
     * Check if mission item has been reached
     * @return true if successfully reached
     */
    bool is_mission_item_reached();

    /**
     * Reset all reached flags
     */
    void reset_mission_item_reached();

    /**
     * Convert a mission item to a position setpoint
     *
     * @param the mission item to convert
     * @param the position setpoint that needs to be set
     */
    bool mission_item_to_position_setpoint(const mission_item_s &item, position_setpoint_s *sp);

    /**
     * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position
     */
    void set_loiter_item(struct mission_item_s *item, float min_clearance = -1.0f);

    /**
     * Set a takeoff mission item
     */
    void set_takeoff_item(struct mission_item_s *item, float abs_altitude, float min_pitch = 0.0f);

    /**
     * Set a land mission item
     */
    void set_land_item(struct mission_item_s *item, bool at_current_location);

    /**
     * Set idle mission item
     */
    void set_idle_item(struct mission_item_s *item);

    /**
     * Set vtol transition item
     */
    void set_vtol_transition_item(struct mission_item_s *item, const uint8_t new_mode);

    /**
     * General function used to adjust the mission item based on vehicle specific limitations
     */
    void mission_apply_limitation(mission_item_s &item);

    void issue_command(const mission_item_s &item);

    float get_time_inside(const mission_item_s &item) const ;

    float get_absolute_altitude_for_item(const mission_item_s &mission_item) const;

    mission_item_s _mission_item{};

    bool _waypoint_position_reached{false};
    bool _waypoint_yaw_reached{false};
    bool _waypoint_position_reached_previously{false};

    hrt_abstime _time_first_inside_orbit{0};
    hrt_abstime _action_start{0};
    hrt_abstime _time_wp_reached{0};

    uORB::Publication<actuator_controls_s>  _actuator_pub{ORB_ID(actuator_controls_2)};
};