WebSVN - Projects - Rev 1940 - /Transportables_Koptertool/branch/Test2 OG/waypoints/waypoints.c

/*#######################################################################################*/
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/*#######################################################################################*/
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#include <stdlib.h>
#include <avr/io.h>
#include <stdint.h>
#include <string.h>
#include <stdbool.h>
//#include "91x_lib.h"
#include "waypoints.h"
#include "../mk-data-structs.h"
#include "../uart/uart1.h"
#include "../eeprom/eeprom.h"

#include <util/delay.h>

// the waypoints list

NaviData_t *NaviData;

//Point_t PointList[MAX_LIST_LEN];
uint8_t WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount
uint8_t POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount
uint8_t WPCount = 0;    // number of waypoints
uint8_t PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN
uint8_t POICount = 0;

uint8_t WPActive = false;

uint8_t PointList_Init(void)
{
return PointList_Clear();
}

uint8_t PointList_Clear(void)
{
uint8_t i;
WPIndex = 0; // real list position are 1 ,2, 3 ...
POIIndex = 0; // real list position are 1 ,2, 3 ...
WPCount = 0; // no waypoints
POICount = 0;
PointCount = 0; // no contents
WPActive = false;
NaviData->WaypointNumber = WPCount;
NaviData->WaypointIndex = 0;

for(i = 0; i < MAX_LIST_LEN; i++)
{
Config.PointList[i].Position.Status = INVALID;
Config.PointList[i].Position.Latitude = 0;
Config.PointList[i].Position.Longitude = 0;
Config.PointList[i].Position.Altitude = 0;
Config.PointList[i].Heading = 361;    // invalid value
Config.PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered
Config.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
Config.PointList[i].Type = POINT_TYPE_INVALID;
Config.PointList[i].Event_Flag = 0; // future implementation
Config.PointList[i].AltitudeRate = 0; // no change of setpoint
}
return true;
}

uint8_t PointList_GetCount(void)
{
return PointCount; // number of points in the list
}

Point_t* PointList_GetAt(uint8_t index)
{
if((index > 0) && (index <= PointCount)) return(&(Config.PointList[index-1])); // return pointer to this waypoint
else return(NULL);
}

uint8_t PointList_SetAt(Point_t* pPoint)
{
// if index is in range
if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN))
{
// check list entry before update
switch(Config.PointList[pPoint->Index-1].Type)
{
case POINT_TYPE_INVALID: // was invalid
switch(pPoint->Type)
{
default:
case POINT_TYPE_INVALID:
// nothing to do
break;

case POINT_TYPE_WP:
WPCount++;
PointCount++;
break;

case POINT_TYPE_POI:
POICount++;
PointCount++;
break;
}
break;

case POINT_TYPE_WP: // was a waypoint
switch(pPoint->Type)
{
case POINT_TYPE_INVALID:
WPCount--;
PointCount--;
break;

default:
case POINT_TYPE_WP:
//nothing to do
break;

case POINT_TYPE_POI:
POICount++;
WPCount--;
break;
}
break;

case POINT_TYPE_POI: // was a poi
switch(pPoint->Type)
{
case POINT_TYPE_INVALID:
POICount--;
PointCount--;
break;

case POINT_TYPE_WP:
WPCount++;
POICount--;
break;

case POINT_TYPE_POI:
default:
// nothing to do
break;
}
break;
}
memcpy(&Config.PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry
NaviData->WaypointNumber = WPCount;
return pPoint->Index;
}
else return(0);
}

// returns the pointer to the first waypoint within the list
Point_t* PointList_WPBegin(void)
{
uint8_t i;
WPIndex = 0; // set list position invalid

if(WPActive == false) return(NULL);

POIIndex = 0; // set invalid POI
if(PointCount > 0)
{
// search for first wp in list
for(i = 0; i <MAX_LIST_LEN; i++)
{
if((Config.PointList[i].Type == POINT_TYPE_WP) && (Config.PointList[i].Position.Status != INVALID))
{
WPIndex = i + 1;
break;
}
}
if(WPIndex) // found a WP in the list
{
NaviData->WaypointIndex = 1;
// update index to POI
if(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.PointList[WPIndex-1].Heading);
else POIIndex = 0;
}
else // some points in the list but no WP found
{
NaviData->WaypointIndex = 0;
//Check for an existing POI
for(i = 0; i < MAX_LIST_LEN; i++)
{
if((Config.PointList[i].Type == POINT_TYPE_POI) && (Config.PointList[i].Position.Status != INVALID))
{
POIIndex = i + 1;
break;
}
}
}
}
else // no point in the list
{
POIIndex = 0;
NaviData->WaypointIndex = 0;
}

if(WPIndex) return(&(Config.PointList[WPIndex-1]));
else return(NULL);
}

// returns the last waypoint
Point_t* PointList_WPEnd(void)
{

uint8_t i;
WPIndex = 0; // set list position invalid
POIIndex = 0; // set invalid

if(WPActive == false) return(NULL);

if(PointCount > 0)
{
// search backward!
for(i = 1; i <= MAX_LIST_LEN; i++)
{
if((Config.PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (Config.PointList[MAX_LIST_LEN - i].Position.Status != INVALID))
{
WPIndex = MAX_LIST_LEN - i + 1;
break;
}
}
if(WPIndex) // found a WP within the list
{
NaviData->WaypointIndex = WPCount;
if(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.PointList[WPIndex-1].Heading);
else POIIndex = 0;
}
else // list contains some points but no WP in the list
{
// search backward for a POI!
for(i = 1; i <= MAX_LIST_LEN; i++)
{
if((Config.PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (Config.PointList[MAX_LIST_LEN - i].Position.Status != INVALID))
{
POIIndex = MAX_LIST_LEN - i + 1;
break;
}
}
NaviData->WaypointIndex = 0;
}
}
else // no point in the list
{
POIIndex = 0;
NaviData->WaypointIndex = 0;
}
if(WPIndex) return(&(Config.PointList[WPIndex-1]));
else return(NULL);
}

// returns a pointer to the next waypoint or NULL if the end of the list has been reached
Point_t* PointList_WPNext(void)
{
uint8_t wp_found = 0;
if(WPActive == false) return(NULL);

if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list
{
uint8_t i;
for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry
{
if((Config.PointList[i].Type == POINT_TYPE_WP) && (Config.PointList[i].Position.Status != INVALID)) // jump over POIs
{
wp_found = i+1;
break;
}
}
}
if(wp_found)
{
WPIndex = wp_found; // update list position
NaviData->WaypointIndex++;
if(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.PointList[WPIndex-1].Heading);
else POIIndex = 0;
return(&(Config.PointList[WPIndex-1])); // return pointer to this waypoint
}
else
{ // no next wp found
NaviData->WaypointIndex = 0;
POIIndex = 0;
return(NULL);
}
}

void PointList_WPActive(uint8_t set)
{
if(set)
{
WPActive = true;
PointList_WPBegin(); // uopdates POI index
}
else
{
WPActive = false;
POIIndex = 0; // disable POI also
}
}

Point_t* PointList_GetPOI(void)
{
return PointList_GetAt(POIIndex);
}

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(root)/Transportables_Koptertool/branch/Test2 OG/waypoints/waypoints.c - Rev 1940