2019-07-16 23:32:05 -03:00
|
|
|
#pragma once
|
|
|
|
|
|
|
|
#include "GCS_MAVLink.h"
|
|
|
|
|
|
|
|
#include "ap_message.h"
|
|
|
|
|
|
|
|
#include <stdint.h>
|
|
|
|
|
|
|
|
// MissionItemProtocol objects are used for transfering missions from
|
|
|
|
// a GCS to ArduPilot and vice-versa.
|
|
|
|
//
|
|
|
|
// There exists one MissionItemProtocol instance for each of the types
|
|
|
|
// of item that might be transfered - e.g. MissionItemProtocol_Rally
|
|
|
|
// for rally point uploads. These objects are static in GCS_MAVLINK
|
|
|
|
// and used by all of the backends.
|
|
|
|
//
|
|
|
|
// While prompting the GCS for items required to complete the mission,
|
|
|
|
// a link is stored to the link the MissionItemProtocol should send
|
|
|
|
// requests out on, and the "receiving" boolean is true. In this
|
|
|
|
// state downloading of items (and the item count!) is blocked.
|
|
|
|
// Starting of uploads (for the same protocol) is also blocked -
|
|
|
|
// essentially the GCS uploading a set of items (e.g. a mission) has a
|
|
|
|
// mutex over the mission.
|
|
|
|
class MissionItemProtocol
|
|
|
|
{
|
|
|
|
public:
|
|
|
|
|
|
|
|
// note that all of these methods are named after the packet they
|
|
|
|
// are handling; the "mission" part just comes as part of that.
|
|
|
|
void handle_mission_request_list(const class GCS_MAVLINK &link,
|
|
|
|
const mavlink_mission_request_list_t &packet,
|
|
|
|
const mavlink_message_t &msg);
|
|
|
|
void handle_mission_request_int(const GCS_MAVLINK &link,
|
|
|
|
const mavlink_mission_request_int_t &packet,
|
|
|
|
const mavlink_message_t &msg);
|
|
|
|
void handle_mission_request(const GCS_MAVLINK &link,
|
|
|
|
const mavlink_mission_request_t &packet,
|
|
|
|
const mavlink_message_t &msg);
|
|
|
|
|
|
|
|
void handle_mission_count(class GCS_MAVLINK &link,
|
|
|
|
const mavlink_mission_count_t &packet,
|
|
|
|
const mavlink_message_t &msg);
|
|
|
|
void handle_mission_write_partial_list(GCS_MAVLINK &link,
|
|
|
|
const mavlink_message_t &msg,
|
|
|
|
const mavlink_mission_write_partial_list_t &packet);
|
|
|
|
|
|
|
|
// called on receipt of a MISSION_ITEM or MISSION_ITEM_INT packet;
|
|
|
|
// the former is converted to the latter.
|
|
|
|
void handle_mission_item(const mavlink_message_t &msg,
|
|
|
|
const mavlink_mission_item_int_t &cmd);
|
|
|
|
|
|
|
|
void handle_mission_clear_all(const GCS_MAVLINK &link,
|
|
|
|
const mavlink_message_t &msg);
|
|
|
|
|
|
|
|
void queued_request_send();
|
|
|
|
void update();
|
|
|
|
|
|
|
|
bool active_link_is(const GCS_MAVLINK *_link) const { return _link == link; };
|
|
|
|
|
|
|
|
virtual MAV_MISSION_TYPE mission_type() const = 0;
|
|
|
|
|
|
|
|
bool receiving; // currently sending requests and expecting items
|
|
|
|
|
2019-12-11 21:57:48 -04:00
|
|
|
// a method for GCS_MAVLINK to send warnings about received
|
|
|
|
// MISSION_ITEM messages (we should be getting MISSION_ITEM_INT)
|
|
|
|
void send_mission_item_warning();
|
|
|
|
|
2019-07-16 23:32:05 -03:00
|
|
|
protected:
|
|
|
|
|
|
|
|
GCS_MAVLINK *link; // link currently receiving waypoints on
|
|
|
|
|
|
|
|
// return the ap_message which can be queued to be sent to send a
|
|
|
|
// item request to the GCS:
|
|
|
|
virtual ap_message next_item_ap_message_id() const = 0;
|
|
|
|
|
|
|
|
virtual bool clear_all_items() = 0;
|
|
|
|
|
|
|
|
uint16_t request_last; // last request index
|
|
|
|
|
|
|
|
private:
|
|
|
|
|
|
|
|
virtual void truncate(const mavlink_mission_count_t &packet) = 0;
|
|
|
|
|
|
|
|
uint16_t request_i; // request index
|
|
|
|
|
|
|
|
// waypoints
|
|
|
|
uint8_t dest_sysid; // where to send requests
|
|
|
|
uint8_t dest_compid; // "
|
|
|
|
uint32_t timelast_receive_ms;
|
|
|
|
uint32_t timelast_request_ms;
|
|
|
|
const uint16_t upload_timeout_ms = 8000;
|
|
|
|
|
2019-12-11 21:31:34 -04:00
|
|
|
// if a transfer is made with MISSION_REQUEST rather than
|
|
|
|
// MISSION_REQUEST we issue a warning - once per transfer.
|
|
|
|
bool mission_request_warning_sent = false;
|
2019-12-11 21:57:48 -04:00
|
|
|
// if a GCS supplied a MISSION_ITEM instead of a MISSION_ITEM_INT
|
|
|
|
// then we issue a warning - once per transfer.
|
|
|
|
bool mission_item_warning_sent = false;
|
2019-12-11 21:31:34 -04:00
|
|
|
|
2019-07-16 23:32:05 -03:00
|
|
|
// support for GCS getting waypoints etc from us:
|
|
|
|
virtual MAV_MISSION_RESULT get_item(const GCS_MAVLINK &_link,
|
|
|
|
const mavlink_message_t &msg,
|
|
|
|
const mavlink_mission_request_int_t &packet,
|
|
|
|
mavlink_mission_item_int_t &ret_packet) = 0;
|
|
|
|
|
|
|
|
void init_send_requests(GCS_MAVLINK &_link,
|
|
|
|
const mavlink_message_t &msg,
|
|
|
|
const int16_t _request_first,
|
|
|
|
const int16_t _request_last);
|
2019-04-29 00:05:59 -03:00
|
|
|
virtual MAV_MISSION_RESULT allocate_receive_resources(const uint16_t count) WARN_IF_UNUSED {
|
|
|
|
return MAV_MISSION_ACCEPTED;
|
|
|
|
}
|
|
|
|
virtual MAV_MISSION_RESULT allocate_update_resources() WARN_IF_UNUSED {
|
|
|
|
return MAV_MISSION_ACCEPTED;
|
|
|
|
}
|
|
|
|
virtual void free_upload_resources() { }
|
2019-07-16 23:32:05 -03:00
|
|
|
|
|
|
|
void send_mission_ack(const mavlink_message_t &msg, MAV_MISSION_RESULT result) const;
|
|
|
|
void send_mission_ack(const GCS_MAVLINK &link, const mavlink_message_t &msg, MAV_MISSION_RESULT result) const;
|
|
|
|
|
|
|
|
virtual uint16_t item_count() const = 0;
|
|
|
|
virtual uint16_t max_items() const = 0;
|
|
|
|
|
|
|
|
virtual MAV_MISSION_RESULT replace_item(const mavlink_mission_item_int_t &mission_item_int) = 0;
|
|
|
|
virtual MAV_MISSION_RESULT append_item(const mavlink_mission_item_int_t &mission_item_int) = 0;
|
|
|
|
|
2019-04-29 00:05:59 -03:00
|
|
|
// complete - method called when transfer is complete - backends
|
|
|
|
// are expected to override this method to do any required tidy up.
|
2019-08-06 21:23:05 -03:00
|
|
|
virtual MAV_MISSION_RESULT complete(const GCS_MAVLINK &_link) {
|
|
|
|
return MAV_MISSION_ACCEPTED;
|
|
|
|
};
|
2019-04-29 00:05:59 -03:00
|
|
|
// transfer_is_complete - tidy up after a transfer is complete;
|
|
|
|
// this method will call complete() so the backends can do their
|
|
|
|
// bit.
|
|
|
|
void transfer_is_complete(const GCS_MAVLINK &_link, const mavlink_message_t &msg);
|
|
|
|
|
|
|
|
// timeout - called if the GCS fails to continue to supply items
|
|
|
|
// in a transfer. Backends are expected to tidy themselves up in
|
|
|
|
// this routine
|
2019-07-16 23:32:05 -03:00
|
|
|
virtual void timeout() {};
|
2019-08-02 04:54:44 -03:00
|
|
|
|
|
|
|
bool mavlink2_requirement_met(const GCS_MAVLINK &_link, const mavlink_message_t &msg) const;
|
2019-07-16 23:32:05 -03:00
|
|
|
};
|