libraries/AP_Mission/AP_Mission_ChangeDetector.h

   1 /// @file    AP_Mission_ChangeDetector.h
   2 /// @brief   Detects changes in the next few nav commands in the mission
   3
   4 /*
   5  *   The AP_Mission_ChangeDetector library:
   6  *   - records the index of the active nav command
   7  *   - maintains a copy of the next few navigation commands
   8  *   - checks for changes in either the active command or the next few nav commands
   9  *
  10  *   Detecting changes in the next few nav commands is critical for SCurves and splines
  11  *   which plan the path through the corners
  12  */
  13 #pragma once
  14
  15 #include "AP_Mission.h"
  16
  17 #if AP_MISSION_ENABLED
  18
  19 /// @class    AP_Mission_ChangeDetector
  20 /// @brief    Mission command change detector
  21 class AP_Mission_ChangeDetector
  22 {
  23
  24 public:
  25
  26     // check for changes to mission. returns true if mission has been changed since last check
  27     bool check_for_mission_change() WARN_IF_UNUSED;
  28
  29 private:
  30
  31     // number of upcoming commands to monitor for changes
  32     static const uint8_t mis_change_detect_cmd_max = 3;
  33     struct {
  34         uint32_t last_change_time_ms;       // local copy of last time mission was changed
  35         uint16_t curr_cmd_index;            // local copy of AP_Mission's current command index
  36         uint8_t cmd_count;                  // number of commands in the cmd array
  37         AP_Mission::Mission_Command cmd[mis_change_detect_cmd_max]; // local copy of the next few mission commands
  38     } mis_change_detect;
  39 };
  40
  41 #endif // AP_MISSION_ENABLED