navigator_mode.cpp

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/**
 * @file navigator_mode.cpp
 *
 * Base class for different modes in navigator
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#include "navigator_mode.h"
#include "navigator.h"

NavigatorMode::NavigatorMode(Navigator *navigator) :
    _navigator(navigator)
{
    /* set initial mission items */
    on_inactivation();
    on_inactive();
}

void
NavigatorMode::run(bool active)
{
    if (active) {
        if (!_active) {
            /* first run, reset stay in failsafe flag */
            _navigator->get_mission_result()->stay_in_failsafe = false;
            _navigator->set_mission_result_updated();
            on_activation();

        } else {
            /* periodic updates when active */
            on_active();
        }

    } else {
        /* periodic updates when inactive */
        if (_active) {
            on_inactivation();

        } else {
            on_inactive();
        }
    }

    _active = active;
}

void
NavigatorMode::on_inactive()
{
}

void
NavigatorMode::on_inactivation()
{
}

void
NavigatorMode::on_activation()
{
    /* invalidate position setpoint by default */
    _navigator->get_position_setpoint_triplet()->current.valid = false;
}

void
NavigatorMode::on_active()
{
}