Path Planner Module

Files
file	pathplanner.c
	Simple path planner which activates a sequence of waypoints.

Macros
#define	STACK_SIZE_BYTES   1024
#define	TASK_PRIORITY   PIOS_THREAD_PRIO_LOW
#define	MAX_QUEUE_SIZE   2
#define	UPDATE_RATE_MS   20

Functions
static void	advanceWaypoint ()
static void	activateWaypoint (int idx)
static void	pathPlannerTask (void *parameters)
static void	process_pp_settings ()
static void	waypointsUpdated (const UAVObjEvent *ev, void *ctx, void *obj, int len)
static void	pathStatusUpdated (const UAVObjEvent *ev, void *ctx, void *obj, int len)
static void	createPathBox ()
static void	createPathLogo ()
int32_t	PathPlannerStart ()
int32_t	PathPlannerInitialize ()
static void	holdCurrentPosition ()
static void	holdPosition (uint32_t idx)
static bool	waypointValid (int32_t idx)

Variables
static struct pios_thread *	taskHandle
static struct pios_queue *	queue
static PathPlannerSettingsData	pathPlannerSettings
static WaypointActiveData	waypointActive
static WaypointData	waypoint
static bool	path_completed
static bool	module_enabled
static volatile bool	pathplanner_config_dirty
static int32_t	active_waypoint = -1
	Store which waypoint has actually been pushed into PathDesired. More...
static int32_t	previous_waypoint = -1
	Store the previous waypoint which is used to determine the path trajectory. More...

Detailed Description

Macro Definition Documentation

#define MAX_QUEUE_SIZE   2

Definition at line 46 of file pathplanner.c.

#define STACK_SIZE_BYTES   1024

Definition at line 44 of file pathplanner.c.

#define TASK_PRIORITY   PIOS_THREAD_PRIO_LOW

Definition at line 45 of file pathplanner.c.

#define UPDATE_RATE_MS   20

Definition at line 47 of file pathplanner.c.

Function Documentation

static void activateWaypoint ( int  idx )

static

This method is called when a new waypoint is activated

Note: The way this is called, it runs in an object callback. This is safe because the execution time is extremely short. If it starts to take a longer time then the main task look should monitor a flag (such as the waypoint changing) and call this method from the main task.

Definition at line 365 of file pathplanner.c.

static void advanceWaypoint ( )

static

Increment the waypoint index which triggers the active waypoint method

Definition at line 333 of file pathplanner.c.

static void createPathBox ( )

static

Definition at line 460 of file pathplanner.c.

static void createPathLogo ( )

static

Definition at line 507 of file pathplanner.c.

static void holdCurrentPosition ( )

static

Initial position hold at current position. This is used at the end of a path or in the case of a problem.

Definition at line 262 of file pathplanner.c.

static void holdPosition ( uint32_t  idx )

static

Hold position at a specified waypoint. Used when we reach the end of valid waypoints.

Definition at line 287 of file pathplanner.c.

int32_t PathPlannerInitialize

(

)

Module initialization

Definition at line 101 of file pathplanner.c.

int32_t PathPlannerStart

(

)

Module initialization

Definition at line 84 of file pathplanner.c.

static void pathPlannerTask ( void *  parameters )

static

Module task

Definition at line 143 of file pathplanner.c.

static void pathStatusUpdated ( const UAVObjEvent *  ev, void *  ctx, void *  obj, int  len  )

static

When the PathStatus is updated indicate a new one is available to consume

Definition at line 243 of file pathplanner.c.

static void process_pp_settings ( )

static

Definition at line 440 of file pathplanner.c.

static void waypointsUpdated ( const UAVObjEvent *  ev, void *  ctx, void *  obj, int  len  )

static

On changed waypoints or active waypoint update position desired if we are in charge

Definition at line 222 of file pathplanner.c.

static bool waypointValid ( int32_t  idx )

static

Definition at line 311 of file pathplanner.c.

Variable Documentation

int32_t active_waypoint = -1

static

Store which waypoint has actually been pushed into PathDesired.

Definition at line 78 of file pathplanner.c.

bool module_enabled

static

Definition at line 73 of file pathplanner.c.

bool path_completed

static

Definition at line 57 of file pathplanner.c.

volatile bool pathplanner_config_dirty

static

Definition at line 75 of file pathplanner.c.

PathPlannerSettingsData pathPlannerSettings

static

Definition at line 54 of file pathplanner.c.

int32_t previous_waypoint = -1

static

Store the previous waypoint which is used to determine the path trajectory.

Definition at line 80 of file pathplanner.c.

struct pios_queue* queue

static

Definition at line 53 of file pathplanner.c.

struct pios_thread* taskHandle

static

Definition at line 52 of file pathplanner.c.

WaypointData waypoint

static

Definition at line 56 of file pathplanner.c.

WaypointActiveData waypointActive

static

Definition at line 55 of file pathplanner.c.