Update MissionRotation.lua

- for each loaded mission it also shows the number of events it contains
- cosmetic

Author: robustini

libraries/AP_Scripting/applets/MissionRotation.lua

@@ -3,28 +3,29 @@
 -- Reset the mission0.txt if AUX is high for more than 3 seconds
 -- Prevents mission change if the vehicle is in AUTO mode
 -- Prevents the script from loading if the vehicle is in AUTO
+-- For each loaded mission it also shows the number of events it contains
 
 local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
 local rc_switch = rc:find_channel_for_option(24)
 
 if not rc_switch then
-    gcs:send_text(MAV_SEVERITY.ERROR, "Mission Reset switch not assigned")
+    gcs:send_text(MAV_SEVERITY.ERROR, "Mission Reset switch not right assigned")
     return
 end
 
+local vehicle_type
 local vehicle_fw_type = FWVersion:type()
 
-local vehicle_type
-if vehicle_fw_type == 1 then
-    vehicle_type = "Rover"
-elseif vehicle_fw_type == 2 then
-    vehicle_type = "Copter"
-elseif vehicle_fw_type == 3 then
+if vehicle_fw_type == 3 then
     vehicle_type = "Plane"
+elseif vehicle_fw_type == 2 then
+    vehicle_type = "Rover"
 elseif vehicle_fw_type == 4 then
-    vehicle_type = "Tracker"
+    vehicle_type = "Copter"
 elseif vehicle_fw_type == 5 then
     vehicle_type = "Submarine"
+elseif vehicle_fw_type == 10 then
+    vehicle_type = "Tracker"
 else
     gcs:send_text(MAV_SEVERITY.ERROR, "Unrecognized vehicle type!")
     return
@@ -41,8 +42,18 @@ elseif vehicle_type == "Rover" then
     mode_auto = 10
 elseif vehicle_type == "Submarine" then
     mode_auto = 10
+elseif vehicle_type == "Helicopter" then
+    mode_auto = 3
 elseif vehicle_type == "Tracker" then
     mode_auto = 10
+elseif vehicle_type == "Sailboat" then
+    mode_auto = 3
+elseif vehicle_type == "Car" then
+    mode_auto = 10
+elseif vehicle_type == "Boat" then
+    mode_auto = 3
+elseif vehicle_type == "VTOL" then
+    mode_auto = 10
 else
     return
 end
@@ -74,39 +85,45 @@ local function read_mission(file_name)
 
     local item = mavlink_mission_item_int_t()
     local index = 0
+    local last_event = nil
 
     while true do
+        local line = file:read('l')
+        if not line then break end
+        if string.match(line, '^%s*$') == nil then
+            last_event = line
+        end
         local data = {}
-        for i = 1, 12 do
-            data[i] = file:read('n')
-            if data[i] == nil then
-                if i == 1 then
-                    file:close()
-                    return true
-                else
-                    mission:clear()
-                    error('Failed to read file: premature end of data')
-                end
+        for number in string.gmatch(line, "[^%s]+") do
+            table.insert(data, tonumber(number))
+        end
+        if #data >= 12 then
+            item:seq(data[1])
+            item:frame(data[3])
+            item:command(data[4])
+            item:param1(data[5])
+            item:param2(data[6])
+            item:param3(data[7])
+            item:param4(data[8])
+            item:x(data[9] * 10^7)
+            item:y(data[10] * 10^7)
+            item:z(data[11])
+            if not mission:set_item(index, item) then
+                mission:clear()
+                error(string.format('Failed to set mission item %i', index))
             end
+            index = index + 1
         end
+    end
+    file:close()
 
-        item:seq(data[1])
-        item:frame(data[3])
-        item:command(data[4])
-        item:param1(data[5])
-        item:param2(data[6])
-        item:param3(data[7])
-        item:param4(data[8])
-        item:x(data[9] * 10^7)
-        item:y(data[10] * 10^7)
-        item:z(data[11])
-
-        if not mission:set_item(index, item) then
-            mission:clear()
-            error(string.format('Failed to set mission item %i', index))
-        end
-        index = index + 1
+    if last_event then
+        local first_number = tonumber(string.match(last_event, "^%d+"))
+        gcs:send_text(MAV_SEVERITY.WARNING, "Loaded " .. file_name .. " with " .. tostring(first_number) .. " events")
+    else
+        gcs:send_text(MAV_SEVERITY.WARNING, "Loaded " .. file_name .. " with 0 events")
     end
+    return true
 end
 
 if not read_mission("mission0.txt") then
@@ -128,7 +145,6 @@ local function load_next_mission()
         if file then
             file:close()
             if read_mission(file_name) then
-                gcs:send_text(MAV_SEVERITY.WARNING, "Loaded mission: " .. file_name)
                 return
             end
         end
@@ -163,5 +179,4 @@ function update()
 end
 
 gcs:send_text(MAV_SEVERITY.NOTICE, "Mission Rotation loaded")
-gcs:send_text(MAV_SEVERITY.NOTICE, "Loaded default mission: mission0.txt")
 return update, 1000