WebSVN - NaviCtrl - Diff - Rev 278 and 280

 #include "91x_lib.h"
 #include "waypoints.h"
 #include "uart1.h"
 // the waypoints list
-#define WPLISTLEN 31
+#define MAX_LIST_LEN 31
-Waypoint_t WPList[WPLISTLEN];
+Point_t PointList[MAX_LIST_LEN];
+u8 WPIndex = 0;         // list index of GPS point representig the current WP, can be maximal WPCount
-u8 WPIndex = 0;         // list index of GPS point representig the current WP, can be maximal WPNumber
+u8 POIIndex = 0;        // list index of GPS Point representing the current POI, can be maximal WPCount
+u8 WPCount = 0;         // number of waypoints
+u8 PointCount = 0;              // number of wp in the list can be maximal equal to MAX_LIST_LEN
-u8 POIIndex = 0;        // list index of GPS Point representing the current POI, can be maximal WPNumber
-u8 WPNumber = 0;        // number of wp in the list can be maximal equal to WPLISTLEN
+u8 WPActive = TRUE;
-u8 WPList_Init(void)
+u8 PointList_Init(void)
 {
-        return WPList_Clear();
+        return PointList_Clear();
+}
-u8 WPList_Clear(void)
+u8 PointList_Clear(void)
+{
-{
+        u8 i;
+        WPIndex = 0;    // real list position are 1 ,2, 3 ...
-        u8 i;
+        POIIndex = 0;   // real list position are 1 ,2, 3 ...
-        WPIndex = 0;    // real list position are 1 ,2, 3 ...
+        WPCount = 0;    // no waypoints
-        POIIndex = 0;   // real list position are 1 ,2, 3 ...
+        PointCount = 0; // no contents
-        WPNumber = 0;   // no contents
+        WPActive = TRUE;
-        NaviData.WaypointNumber = WPNumber;
+        NaviData.WaypointNumber = WPCount;
-        NaviData.WaypointIndex = WPIndex;
+        NaviData.WaypointIndex = 0;
-        for(i = 0; i < WPLISTLEN; i++)
+        for(i = 0; i < MAX_LIST_LEN; i++)
         {
-                WPList[i].Position.Status = INVALID;
+                PointList[i].Position.Status = INVALID;
-                WPList[i].Position.Latitude = 0;
+                PointList[i].Position.Latitude = 0;
-                WPList[i].Position.Longitude = 0;
+                PointList[i].Position.Longitude = 0;
-                WPList[i].Position.Altitude = 0;
+                PointList[i].Position.Altitude = 0;
-                WPList[i].Heading = 361;                // invalid value
+                PointList[i].Heading = 361;             // invalid value
-                WPList[i].ToleranceRadius = 0;  // in meters, if the MK is within that range around the target, then the next target is triggered
+                PointList[i].ToleranceRadius = 0;       // in meters, if the MK is within that range around the target, then the next target is triggered
-                WPList[i].HoldTime = 0;                 // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
+                PointList[i].HoldTime = 0;                      // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
-                WPList[i].Event_Flag = 0;               // future implementation
+                PointList[i].Event_Flag = 0;            // future implementation
-                WPList[i].Type = POINT_TYPE_WP;
+                PointList[i].Type = POINT_TYPE_INVALID;
+        }
         return TRUE;
+}
-u8 WPList_GetCount(void)
+u8 PointList_GetCount(void)
 {
-        return WPNumber; // number of points in the list
+        return PointCount; // number of points in the list
 }
-u8 WPList_Append(Waypoint_t* pwp)
+u8 PointList_Append(Point_t* pPoint)
+{
-{
+        if((PointCount < MAX_LIST_LEN) && (pPoint->Index == (PointCount + 1)) ) // there is still some space in the list and index points to next
         if((WPNumber < WPLISTLEN) && (pwp->Index == (WPNumber + 1)) ) // there is still some space in the list and index points to next
                 memcpy(&PointList[PointCount], pPoint, sizeof(Point_t)); // copy data to list entry                                                                             // increment list length
-                memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry                                                                               // increment list length
+                if(PointList[PointCount].Type == POINT_TYPE_WP) WPCount++;
-                WPNumber++;
+                NaviData.WaypointNumber = WPCount;
-                NaviData.WaypointNumber = WPNumber;
+                PointCount++;
-                if(WPNumber == 1) // only for the first entry
+                if(PointCount == 1) // only for the first entry
+                {
                         // update POI index
-                        switch(WPList[WPIndex-1].Type)
+                        switch(PointList[WPIndex-1].Type)
+                        {
+        }
         else return FALSE;
+}
 // returns the pointer to the first waypoint within the list
-Waypoint_t* WPList_Begin(void)
+Point_t* PointList_WPBegin(void)
+{
         u8 i;
         WPIndex = 0; // set list position invalid
         POIIndex = 0; // set invalid POI
+        if(WPActive == FALSE) return(NULL);
         if(WPNumber > 0)
-        {
+        if(PointCount > 0)
+        {
                 // search for first wp in list
-                for(i = 0; i < WPNumber; i++)
+                for(i = 0; i <PointCount; i++)
+                {
-                        if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID))
+                        if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID))
+                        {
                                 WPIndex = i + 1;
                                 break;
+                        }
                 }
                 if(WPIndex) // found a WP in the list
                 {
-                        NaviData.WaypointIndex = WPIndex;
+                        NaviData.WaypointIndex = 1;
                         // update index to POI
-                        if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
+                        if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading);
                         else POIIndex = 0;
-                        return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list
+                        return(&(PointList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list
                 }
                 else // some points in the list but no WP found
                 {
-                        NaviData.WaypointIndex = WPIndex;
+                        NaviData.WaypointIndex = 0;
                         //Check for an existing POI
-                        for(i = 0; i < WPNumber; i++)
+                        for(i = 0; i < PointCount; i++)
+                        {
-                                if((WPList[i].Type == POINT_TYPE_POI) && (WPList[i].Position.Status != INVALID))
+                                if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID))
+                                {
                                         POIIndex = i + 1;
+                }
+        }
         else // no point in the list
+        {
                 POIIndex = 0;
-                NaviData.WaypointIndex = WPIndex;
+                NaviData.WaypointIndex = 0;
                 return NULL;
+        }
+}
 // returns the last waypoint
-Waypoint_t* WPList_End(void)
+Point_t* PointList_WPEnd(void)
+{
         u8 i;
+        WPIndex = 0; // set list position invalid
-        WPIndex = 0; // set list position invalid
+        POIIndex = 0; // set invalid
-        POIIndex = 0; // set invalid
+        if(WPActive == FALSE) return(NULL);
-        if(WPNumber > 0)
+        if(PointCount > 0)
+        {
                 // search backward!
-                for(i = 1; i <= WPNumber; i++)
+                for(i = 1; i <= PointCount; i++)
                 {
-                        if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID))
+                        if((PointList[PointCount - i].Type == POINT_TYPE_WP) && (PointList[PointCount - i].Position.Status != INVALID))
+                        {
-                                WPIndex = WPNumber - i + 1;
+                                WPIndex = PointCount - i + 1;
                                 break;
+                        }
                 }
                 if(WPIndex) // found a WP within the list
+                {
-                        NaviData.WaypointIndex = WPIndex;
+                        NaviData.WaypointIndex = WPCount;
-                        if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
+                        if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading);
                         else POIIndex = 0;
-                        return(&(WPList[WPIndex-1]));
+                        return(&(PointList[WPIndex-1]));
+                }
                 else // list contains some points but no WP in the list
+                {
                         // search backward for a POI!
-                        for(i = 1; i <= WPNumber; i++)
+                        for(i = 1; i <= PointCount; i++)
                         {
-                                if((WPList[WPNumber - i].Type == POINT_TYPE_POI) && (WPList[WPNumber - i].Position.Status != INVALID))
+                                if((PointList[PointCount - i].Type == POINT_TYPE_POI) && (PointList[PointCount - i].Position.Status != INVALID))
+                                {
-                                        POIIndex = WPNumber - i + 1;
+                                        POIIndex = PointCount - i + 1;
                                         break;
+                                }
+                        }
-                        NaviData.WaypointIndex = WPIndex;
+                        NaviData.WaypointIndex = 0;
                         return NULL;
+                }
         }
         else // no point in the list
         {
-                        POIIndex = 0;
+                POIIndex = 0;
-                        NaviData.WaypointIndex = WPIndex;
+                NaviData.WaypointIndex = 0;
-                        return NULL;
+                return NULL;
         }
+}
+// returns a pointer to the next waypoint or NULL if the end of the list has been reached
-// returns a pointer to the next waypoint or NULL if the end of the list has been reached
+Point_t* PointList_WPNext(void)
 Waypoint_t* WPList_Next(void)
         u8 wp_found = 0;
-        u8 wp_found = 0;
+        if(WPActive == FALSE) return(NULL);
-        if(WPIndex < WPNumber) // if there is a next entry in the list
+        if(WPIndex < PointCount) // if there is a next entry in the list
+        {
                 u8 i;
-                for(i = WPIndex; i < WPNumber; i++)     // start search for next at next list entry
+                for(i = WPIndex; i < PointCount; i++)   // start search for next at next list entry
+                {
-                        if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs
+                        if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs
+                        {
                                 wp_found = i+1;
                                 break;
+                        }
                 }
         }
         if(wp_found)
         {
                 WPIndex = wp_found; // update list position
-                NaviData.WaypointIndex = WPIndex;
+                NaviData.WaypointIndex++;
-                if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
+                if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading);
                 else POIIndex = 0;
-                return(&(WPList[WPIndex-1]));   // return pointer to this waypoint
+                return(&(PointList[WPIndex-1]));        // return pointer to this waypoint
+        }
         else
         {  // no next wp found
+                NaviData.WaypointIndex = 0;
+                POIIndex = 0;
+                return(NULL);
+        }
+}
-                NaviData.WaypointIndex = WPIndex;
+void PointList_WPActive(u8 set)
                 POIIndex = 0;
-                return(NULL);
+        if(set) WPActive = TRUE;
         else WPActive = FALSE;
+}
-Waypoint_t* WPList_GetAt(u8 index)
+Point_t* PointList_GetAt(u8 index)
 {
-        if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1]));      // return pointer to this waypoint
+        if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint

Subversion Repositories NaviCtrl

(root)/tags/V0.24c/waypoints.c @ 811 - Rev 278 → 280