bizhang_-obav/src/lib/FlightTasks/FlightTasks.hpp

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/**
 * @file flight_taks.h
 *
 * Library class to hold and manage all implemented flight task instances
 *
 * @author Matthias Grob <maetugr@gmail.com>
 */

#pragma once

#include "tasks/FlightTask.hpp"
#include "tasks/FlightTaskManualAltitude.hpp"
#include "tasks/FlightTaskManualAltitudeSmooth.hpp"
#include "tasks/FlightTaskManualPosition.hpp"
#include "tasks/FlightTaskManualPositionSmooth.hpp"
#include "tasks/FlightTaskManualStabilized.hpp"
#include "tasks/FlightTaskAutoLine.hpp"
#include "tasks/FlightTaskAutoFollowMe.hpp"
#include "tasks/FlightTaskOrbit.hpp"
#include "tasks/FlightTaskSport.hpp"
#include "tasks/FlightTaskOffboard.hpp"

#include "SubscriptionArray.hpp"

#include <new>

enum class FlightTaskIndex : int {
	None = -1,
	Stabilized,
	Altitude,
	AltitudeSmooth,
	Position,
	PositionSmooth,
	Orbit,
	Sport,
	AutoLine,
	AutoFollowMe,
	Offboard,

	Count // number of tasks
};

class FlightTasks
{
public:
	FlightTasks();

	~FlightTasks()
	{
		if (_current_task.task) {
			_current_task.task->~FlightTask();
		}
	}

	/**
	 * Call regularly in the control loop cycle to execute the task
	 * @return true on success, false on error
	 */
	bool update();

	/**
	 * Get the output data from the current task
	 * @return output setpoint, to be executed by position control
	 */
	const vehicle_local_position_setpoint_s getPositionSetpoint();

	/**
	 * Get task dependent constraints
	 * @return setpoint constraints that has to be respected by the position controller
	 */
	const vehicle_constraints_s getConstraints();

	/**
	 * Switch to the next task in the available list (for testing)
	 * @return true on success, false on error
	 */
	int switchTask() { return switchTask(static_cast<int>(_current_task.index) + 1); }

	/**
	 * Switch to a specific task (for normal usage)
	 * @param task index to switch to
	 * @return 1 on success, 0 on no change, <0 on error
	 */
	int switchTask(FlightTaskIndex new_task_index);
	int switchTask(int new_task_index);

	/**
	 * Get the number of the active task
	 * @return number of active task, -1 if there is none
	 */
	int getActiveTask() const { return static_cast<int>(_current_task.index); }

	/**
	 * Check if any task is active
	 * @return true if a task is active, false if not
	 */
	bool isAnyTaskActive() const { return _current_task.task; }

	/**
	 * Call this whenever a parameter update notification is received (parameter_update uORB message)
	 */
	void handleParameterUpdate();

	/**
	 * Call this method to get the description of a task error.
	 */
	const char *errorToString(const int error);

private:

	/**
	 * Union with all existing tasks: we use it to make sure that only the memory of the largest existing
	 * task is needed, and to avoid using dynamic memory allocations.
	 */
	union TaskUnion {
		TaskUnion() {}
		~TaskUnion() {}

		FlightTaskManualStabilized stabilized;
		FlightTaskManualAltitude altitude;
		FlightTaskManualAltitudeSmooth altitude_smooth;
		FlightTaskManualPosition position;
		FlightTaskManualPositionSmooth position_smooth;
		FlightTaskOrbit orbit;
		FlightTaskSport sport;
		FlightTaskAutoLine autoLine;
		FlightTaskAutoFollowMe autoFollowMe;
		FlightTaskOffboard offboard;
	} _task_union; /**< storage for the currently active task */

	struct flight_task_t {
		FlightTask *task;
		FlightTaskIndex index;
	};
	flight_task_t _current_task = {nullptr, FlightTaskIndex::None};

	SubscriptionArray _subscription_array;

	struct task_error_t {
		int error;
		const char *msg;
	};

	static const int _numError = 4;
	/**
	 * Map from Error int to user friendly string.
	 */
	task_error_t _taskError[_numError] = {
		{0, "No Error"},
		{-1, "Invalid Task "},
		{-2, "Subscription Failed"},
		{-3, "Activation Failed"}
	};
	/**
	 * Check for vehicle commands (received via MAVLink), evaluate and acknowledge them
	 */
	void _updateCommand();
	int _sub_vehicle_command = -1; /**< topic handle on which commands are received */
	orb_advert_t _pub_vehicle_command_ack = nullptr; /**< topic handle to which commands get acknowledged */

	int _initTask(FlightTaskIndex task_index);
};