WebSVN - NaviCtrl - Diff - Rev 230 and 277

 /*#######################################################################################*/
 /* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 2008 Ingo Busker, Holger Buss
 // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
 // + FOR NON COMMERCIAL USE ONLY
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
 // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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 // + bzgl. der Nutzungsbedingungen aufzunehmen.
 // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
 // + Verkauf von Luftbildaufnahmen, usw.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 // + eindeutig als Ursprung verlinkt werden
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 // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
 // + Benutzung auf eigene Gefahr
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + mit unserer Zustimmung zulässig
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 // + Redistributions of source code (with or without modifications) must retain the above copyright notice,
 // + this list of conditions and the following disclaimer.
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 //
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include <string.h>
 #include "91x_lib.h"
 #include "waypoints.h"
 #include "uart1.h"
 // the waypoints list
 #define WPLISTLEN 31
 Waypoint_t WPList[WPLISTLEN];
 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 WPNumber
 u8 WPNumber = 0;        // number of wp in the list can be maximal equal to WPLISTLEN
 u8 WPList_Init(void)
+{
         return WPList_Clear();
+}
 u8 WPList_Clear(void)
+{
         u8 i;
         WPIndex = 0;    // real list position are 1 ,2, 3 ...
         POIIndex = 0;   // real list position are 1 ,2, 3 ...
         WPNumber = 0;   // no contents
         NaviData.WaypointNumber = WPNumber;
         NaviData.WaypointIndex = WPIndex;
         for(i = 0; i < WPLISTLEN; i++)
+        {
                 WPList[i].Position.Status = INVALID;
                 WPList[i].Position.Latitude = 0;
                 WPList[i].Position.Longitude = 0;
                 WPList[i].Position.Altitude = 0;
                 WPList[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
                 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
                 WPList[i].Event_Flag = 0;               // future implementation
                 WPList[i].Type = POINT_TYPE_WP;
+        }
         return TRUE;
+}
 u8 WPList_GetCount(void)
+{
         return WPNumber; // number of points in the list
+}
 u8 WPList_Append(Waypoint_t* pwp)
+{
-        if(WPNumber < WPLISTLEN) // there is still some space in the list
+        if((WPNumber < WPLISTLEN) && (pwp->Index == (WPNumber + 1)) ) // there is still some space in the list and index points to next
+        {
                 memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry                                                                               // increment list length
                 WPNumber++;
                 NaviData.WaypointNumber = WPNumber;
+                if(WPNumber == 1) // only for the first entry
+                {
+                        // update POI index
+                        switch(WPList[WPIndex-1].Type)
+                        {
+                                case POINT_TYPE_WP:
+                                        if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
+                                        else POIIndex = 0;
+                                        break;
+                                case POINT_TYPE_POI:
+                                        POIIndex = 1;
+                                        break;
+                                default:
+                                        POIIndex = 0;
+                                        break;
+                        }
+                }
                 return TRUE;
+        }
         else return FALSE;
+}
 // returns the pointer to the first waypoint within the list
 Waypoint_t* WPList_Begin(void)
+{
+        u8 i;
         WPIndex = 0; // set list position invalid
+        POIIndex = 0; // set invalid POI
         if(WPNumber > 0)
+        {
-                u8 i;
                 // search for first wp in list
                 for(i = 0; i < WPNumber; i++)
+                {
                         if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID))
+                        {
                                 WPIndex = i + 1;
                                 break;
+                        }
+                }
+                if(WPIndex) // found a WP in the list
+                {
+                        NaviData.WaypointIndex = WPIndex;
+                        // update index to POI
+                        if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
+                        else POIIndex = 0;
+                        return(&(WPList[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;
+                        //Check for an existing POI
+                        for(i = 0; i < WPNumber; i++)
+                        {
+                                if((WPList[i].Type == POINT_TYPE_POI) && (WPList[i].Position.Status != INVALID))
+                                {
+                                        POIIndex = i + 1;
+                                        break;
+                                }
+                        }
+                        return NULL;
+                }
+        }
-        if(WPIndex) // found a WP in the list
+        else // no point in the list
-        {
-                NaviData.WaypointIndex = WPIndex;
-                // update index to POI
-                if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
-                else POIIndex = 0;
-                return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list
-        }
-        else
+        {
                 POIIndex = 0;
                 NaviData.WaypointIndex = WPIndex;
                 return NULL;
+        }
+}
 // returns the last waypoint
 Waypoint_t* WPList_End(void)
+{
+        u8 i;
         WPIndex = 0; // set list position invalid
+        POIIndex = 0; // set invalid
         if(WPNumber > 0)
+        {
                 // search backward!
-                u8 i;
                 for(i = 1; i <= WPNumber; i++)
+                {
                         if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID))
+                        {
                                 WPIndex = WPNumber - i + 1;
                                 break;
+                        }
+                }
+                if(WPIndex) // found a WP within the list
+                {
+                        NaviData.WaypointIndex = WPIndex;
+                        if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
+                        else POIIndex = 0;
+                        return(&(WPList[WPIndex-1]));
+                }
+                else // list conbtains some points but no WP in the list
+                {
+                        // search backward for a POI!
+                        for(i = 1; i <= WPNumber; i++)
+                        {
+                                if((WPList[WPNumber - i].Type == POINT_TYPE_POI) && (WPList[WPNumber - i].Position.Status != INVALID))
+                                {
+                                        POIIndex = WPNumber - i + 1;
+                                        break;
+                                }
+                        }
+                        NaviData.WaypointIndex = WPIndex;
+                        return NULL;
+                }
+        }
-        if(WPIndex) // found a WP within the list
+        else // no point in the list
-        {
-                NaviData.WaypointIndex = WPIndex;
-                if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
-                else POIIndex = 0;
-                return(&(WPList[WPIndex-1]));
-        }
-        else
+        {
-                POIIndex = 0;
+                        POIIndex = 0;
-                NaviData.WaypointIndex = WPIndex;
+                        NaviData.WaypointIndex = WPIndex;
-                return NULL;
+                        return NULL;
+        }
+}
 // returns a pointer to the next waypoint or NULL if the end of the list has been reached
 Waypoint_t* WPList_Next(void)
+{
         u8 wp_found = 0;
         if(WPIndex < WPNumber) // 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
+                {
                         if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs
+                        {
                                 wp_found = i+1;
                                 break;
+                        }
+                }
+        }
         if(wp_found)
+        {
                 WPIndex = wp_found; // update list position
                 NaviData.WaypointIndex = WPIndex;
                 if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
                 else POIIndex = 0;
                 return(&(WPList[WPIndex-1]));   // return pointer to this waypoint
+        }
+        else
+        {
+                NaviData.WaypointIndex = WPIndex;
+                POIIndex = 0;
-        else return(NULL);
+                return(NULL);
+        }
+}
 Waypoint_t* WPList_GetAt(u8 index)
+{
         if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1]));      // return pointer to this waypoint
         else return(NULL);
+}
 Waypoint_t* WPList_GetPOI(void)
+{
         return WPList_GetAt(POIIndex);
+}

Subversion Repositories NaviCtrl

(root)/tags/V0.28n/waypoints.c @ 815 - Rev 230 → 277