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59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "waypoints.h" |
60 | #include "waypoints.h" |
61 | #include "uart1.h" |
61 | #include "uart1.h" |
Line 62... | Line 62... | ||
62 | 62 | ||
63 | // the waypoints list |
63 | // the waypoints list |
Line 64... | Line 64... | ||
64 | #define WPLISTLEN 31 |
64 | #define MAX_LIST_LEN 31 |
65 | 65 | ||
66 | Waypoint_t WPList[WPLISTLEN]; |
66 | Point_t PointList[MAX_LIST_LEN]; |
- | 67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
|
67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPNumber |
68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
Line -... | Line 69... | ||
- | 69 | u8 WPCount = 0; // number of waypoints |
|
- | 70 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
|
68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPNumber |
71 | |
69 | u8 WPNumber = 0; // number of wp in the list can be maximal equal to WPLISTLEN |
72 | u8 WPActive = TRUE; |
70 | 73 | ||
71 | u8 WPList_Init(void) |
74 | u8 PointList_Init(void) |
Line 72... | Line 75... | ||
72 | { |
75 | { |
73 | return WPList_Clear(); |
76 | return PointList_Clear(); |
74 | } |
77 | } |
75 | 78 | ||
76 | u8 WPList_Clear(void) |
79 | u8 PointList_Clear(void) |
- | 80 | { |
|
77 | { |
81 | u8 i; |
- | 82 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
|
78 | u8 i; |
83 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
79 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
84 | WPCount = 0; // no waypoints |
80 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
85 | PointCount = 0; // no contents |
81 | WPNumber = 0; // no contents |
86 | WPActive = TRUE; |
82 | NaviData.WaypointNumber = WPNumber; |
87 | NaviData.WaypointNumber = WPCount; |
83 | NaviData.WaypointIndex = WPIndex; |
88 | NaviData.WaypointIndex = 0; |
84 | 89 | ||
85 | for(i = 0; i < WPLISTLEN; i++) |
90 | for(i = 0; i < MAX_LIST_LEN; i++) |
86 | { |
91 | { |
87 | WPList[i].Position.Status = INVALID; |
92 | PointList[i].Position.Status = INVALID; |
88 | WPList[i].Position.Latitude = 0; |
93 | PointList[i].Position.Latitude = 0; |
89 | WPList[i].Position.Longitude = 0; |
94 | PointList[i].Position.Longitude = 0; |
90 | WPList[i].Position.Altitude = 0; |
95 | PointList[i].Position.Altitude = 0; |
91 | WPList[i].Heading = 361; // invalid value |
96 | PointList[i].Heading = 361; // invalid value |
92 | WPList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
97 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
93 | 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 |
98 | 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 |
94 | WPList[i].Event_Flag = 0; // future implementation |
99 | PointList[i].Event_Flag = 0; // future implementation |
Line 95... | Line 100... | ||
95 | WPList[i].Type = POINT_TYPE_WP; |
100 | PointList[i].Type = POINT_TYPE_INVALID; |
96 | } |
101 | } |
97 | return TRUE; |
102 | return TRUE; |
98 | } |
103 | } |
Line 99... | Line 104... | ||
99 | 104 | ||
100 | u8 WPList_GetCount(void) |
105 | u8 PointList_GetCount(void) |
101 | { |
106 | { |
102 | return WPNumber; // number of points in the list |
107 | return PointCount; // number of points in the list |
103 | } |
108 | } |
104 | 109 | ||
105 | u8 WPList_Append(Waypoint_t* pwp) |
110 | u8 PointList_Append(Point_t* pPoint) |
- | 111 | { |
|
106 | { |
112 | if((PointCount < MAX_LIST_LEN) && (pPoint->Index == (PointCount + 1)) ) // there is still some space in the list and index points to next |
107 | if((WPNumber < WPLISTLEN) && (pwp->Index == (WPNumber + 1)) ) // there is still some space in the list and index points to next |
113 | { |
108 | { |
114 | memcpy(&PointList[PointCount], pPoint, sizeof(Point_t)); // copy data to list entry // increment list length |
109 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry // increment list length |
115 | if(PointList[PointCount].Type == POINT_TYPE_WP) WPCount++; |
110 | WPNumber++; |
116 | NaviData.WaypointNumber = WPCount; |
111 | NaviData.WaypointNumber = WPNumber; |
117 | PointCount++; |
112 | if(WPNumber == 1) // only for the first entry |
118 | if(PointCount == 1) // only for the first entry |
113 | { |
119 | { |
114 | // update POI index |
120 | // update POI index |
Line 115... | Line 121... | ||
115 | switch(WPList[WPIndex-1].Type) |
121 | switch(PointList[WPIndex-1].Type) |
116 | { |
122 | { |
Line 132... | Line 138... | ||
132 | } |
138 | } |
133 | else return FALSE; |
139 | else return FALSE; |
134 | } |
140 | } |
Line 135... | Line 141... | ||
135 | 141 | ||
136 | // returns the pointer to the first waypoint within the list |
142 | // returns the pointer to the first waypoint within the list |
137 | Waypoint_t* WPList_Begin(void) |
143 | Point_t* PointList_WPBegin(void) |
138 | { |
144 | { |
139 | u8 i; |
145 | u8 i; |
140 | WPIndex = 0; // set list position invalid |
146 | WPIndex = 0; // set list position invalid |
Line 141... | Line 147... | ||
141 | POIIndex = 0; // set invalid POI |
147 | POIIndex = 0; // set invalid POI |
142 | - | ||
Line -... | Line 148... | ||
- | 148 | ||
- | 149 | if(WPActive == FALSE) return(NULL); |
|
143 | if(WPNumber > 0) |
150 | |
144 | { |
151 | if(PointCount > 0) |
145 | 152 | { |
|
146 | // search for first wp in list |
153 | // search for first wp in list |
147 | for(i = 0; i < WPNumber; i++) |
154 | for(i = 0; i <PointCount; i++) |
148 | { |
155 | { |
149 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) |
156 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
150 | { |
157 | { |
151 | WPIndex = i + 1; |
158 | WPIndex = i + 1; |
152 | break; |
159 | break; |
153 | } |
160 | } |
154 | } |
161 | } |
155 | if(WPIndex) // found a WP in the list |
162 | if(WPIndex) // found a WP in the list |
156 | { |
163 | { |
157 | NaviData.WaypointIndex = WPIndex; |
164 | NaviData.WaypointIndex = 1; |
158 | // update index to POI |
165 | // update index to POI |
159 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
166 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
160 | else POIIndex = 0; |
167 | else POIIndex = 0; |
161 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
168 | return(&(PointList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
162 | } |
169 | } |
163 | else // some points in the list but no WP found |
170 | else // some points in the list but no WP found |
164 | { |
171 | { |
165 | NaviData.WaypointIndex = WPIndex; |
172 | NaviData.WaypointIndex = 0; |
166 | //Check for an existing POI |
173 | //Check for an existing POI |
167 | for(i = 0; i < WPNumber; i++) |
174 | for(i = 0; i < PointCount; i++) |
168 | { |
175 | { |
169 | if((WPList[i].Type == POINT_TYPE_POI) && (WPList[i].Position.Status != INVALID)) |
176 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
170 | { |
177 | { |
171 | POIIndex = i + 1; |
178 | POIIndex = i + 1; |
Line 176... | Line 183... | ||
176 | } |
183 | } |
177 | } |
184 | } |
178 | else // no point in the list |
185 | else // no point in the list |
179 | { |
186 | { |
180 | POIIndex = 0; |
187 | POIIndex = 0; |
181 | NaviData.WaypointIndex = WPIndex; |
188 | NaviData.WaypointIndex = 0; |
182 | return NULL; |
189 | return NULL; |
183 | } |
190 | } |
184 | } |
191 | } |
Line 185... | Line 192... | ||
185 | 192 | ||
186 | // returns the last waypoint |
193 | // returns the last waypoint |
187 | Waypoint_t* WPList_End(void) |
194 | Point_t* PointList_WPEnd(void) |
Line 188... | Line 195... | ||
188 | { |
195 | { |
189 | 196 | ||
190 | u8 i; |
197 | u8 i; |
- | 198 | WPIndex = 0; // set list position invalid |
|
Line 191... | Line 199... | ||
191 | WPIndex = 0; // set list position invalid |
199 | POIIndex = 0; // set invalid |
192 | POIIndex = 0; // set invalid |
200 | if(WPActive == FALSE) return(NULL); |
193 | 201 | ||
194 | if(WPNumber > 0) |
202 | if(PointCount > 0) |
195 | { |
203 | { |
196 | // search backward! |
204 | // search backward! |
197 | for(i = 1; i <= WPNumber; i++) |
205 | for(i = 1; i <= PointCount; i++) |
198 | { |
206 | { |
199 | if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID)) |
207 | if((PointList[PointCount - i].Type == POINT_TYPE_WP) && (PointList[PointCount - i].Position.Status != INVALID)) |
200 | { |
208 | { |
201 | WPIndex = WPNumber - i + 1; |
209 | WPIndex = PointCount - i + 1; |
202 | break; |
210 | break; |
203 | } |
211 | } |
204 | } |
212 | } |
205 | if(WPIndex) // found a WP within the list |
213 | if(WPIndex) // found a WP within the list |
206 | { |
214 | { |
207 | NaviData.WaypointIndex = WPIndex; |
215 | NaviData.WaypointIndex = WPCount; |
208 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
216 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
209 | else POIIndex = 0; |
217 | else POIIndex = 0; |
210 | return(&(WPList[WPIndex-1])); |
218 | return(&(PointList[WPIndex-1])); |
211 | } |
219 | } |
212 | else // list contains some points but no WP in the list |
220 | else // list contains some points but no WP in the list |
213 | { |
221 | { |
214 | // search backward for a POI! |
222 | // search backward for a POI! |
215 | for(i = 1; i <= WPNumber; i++) |
223 | for(i = 1; i <= PointCount; i++) |
216 | { |
224 | { |
217 | if((WPList[WPNumber - i].Type == POINT_TYPE_POI) && (WPList[WPNumber - i].Position.Status != INVALID)) |
225 | if((PointList[PointCount - i].Type == POINT_TYPE_POI) && (PointList[PointCount - i].Position.Status != INVALID)) |
218 | { |
226 | { |
219 | POIIndex = WPNumber - i + 1; |
227 | POIIndex = PointCount - i + 1; |
220 | break; |
228 | break; |
221 | } |
229 | } |
222 | } |
230 | } |
223 | NaviData.WaypointIndex = WPIndex; |
231 | NaviData.WaypointIndex = 0; |
224 | return NULL; |
232 | return NULL; |
225 | } |
233 | } |
226 | } |
234 | } |
227 | else // no point in the list |
235 | else // no point in the list |
228 | { |
236 | { |
229 | POIIndex = 0; |
237 | POIIndex = 0; |
230 | NaviData.WaypointIndex = WPIndex; |
238 | NaviData.WaypointIndex = 0; |
Line 231... | Line 239... | ||
231 | return NULL; |
239 | return NULL; |
232 | } |
240 | } |
233 | } |
241 | } |
234 | 242 | ||
- | 243 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
|
Line 235... | Line 244... | ||
235 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
244 | Point_t* PointList_WPNext(void) |
236 | Waypoint_t* WPList_Next(void) |
245 | { |
237 | { |
246 | u8 wp_found = 0; |
238 | u8 wp_found = 0; |
247 | if(WPActive == FALSE) return(NULL); |
239 | 248 | ||
240 | if(WPIndex < WPNumber) // if there is a next entry in the list |
249 | if(WPIndex < PointCount) // if there is a next entry in the list |
241 | { |
250 | { |
242 | u8 i; |
251 | u8 i; |
243 | for(i = WPIndex; i < WPNumber; i++) // start search for next at next list entry |
252 | for(i = WPIndex; i < PointCount; i++) // start search for next at next list entry |
244 | { |
253 | { |
245 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs |
254 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
246 | { |
255 | { |
247 | wp_found = i+1; |
256 | wp_found = i+1; |
248 | break; |
257 | break; |
249 | } |
258 | } |
250 | } |
259 | } |
251 | } |
260 | } |
252 | if(wp_found) |
261 | if(wp_found) |
253 | { |
262 | { |
254 | WPIndex = wp_found; // update list position |
263 | WPIndex = wp_found; // update list position |
255 | NaviData.WaypointIndex = WPIndex; |
264 | NaviData.WaypointIndex++; |
256 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
265 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
257 | else POIIndex = 0; |
266 | else POIIndex = 0; |
258 | return(&(WPList[WPIndex-1])); // return pointer to this waypoint |
267 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
259 | } |
268 | } |
260 | else |
269 | else |
261 | { |
270 | { // no next wp found |
- | 271 | NaviData.WaypointIndex = 0; |
|
- | 272 | POIIndex = 0; |
|
- | 273 | return(NULL); |
|
- | 274 | } |
|
- | 275 | } |
|
- | 276 | ||
Line 262... | Line 277... | ||
262 | NaviData.WaypointIndex = WPIndex; |
277 | void PointList_WPActive(u8 set) |
263 | POIIndex = 0; |
278 | { |
264 | return(NULL); |
279 | if(set) WPActive = TRUE; |
265 | } |
280 | else WPActive = FALSE; |
266 | } |
281 | } |
Line 267... | Line 282... | ||
267 | 282 | ||
268 | Waypoint_t* WPList_GetAt(u8 index) |
283 | Point_t* PointList_GetAt(u8 index) |
269 | { |
284 | { |
270 | if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1])); // return pointer to this waypoint |
285 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |