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GCS_MAVLink: factor out a check_receiving_cancel method 

allow reuse of this logic
This commit is contained in:
Peter Barker 2024-08-19 17:33:58 +10:00 committed by Peter Barker
parent 8ee7bf2dcb
commit c0735d136c
2 changed files with 29 additions and 14 deletions
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37
libraries/GCS_MAVLink/MissionItemProtocol.cpp
View File

@ -52,6 +52,29 @@ bool MissionItemProtocol::mavlink2_requirement_met(const GCS_MAVLINK &_link, con
return false;
}
// returns true if we are either not receiving, or we successfully
// cancelled an existing upload:
bool MissionItemProtocol::cancel_upload(const GCS_MAVLINK &_link, const mavlink_message_t &msg)
{
if (receiving) {
// someone is already uploading a mission. If we are
// receiving from someone then we will allow them to restart -
// otherwise we deny.
if (msg.sysid != dest_sysid || msg.compid != dest_compid) {
// reject another upload until
send_mission_ack(_link, msg, MAV_MISSION_DENIED);
return false;
}
// the upload count may have changed; free resources and
// allocate them again:
free_upload_resources();
receiving = false;
link = nullptr;
}
return true;
}
void MissionItemProtocol::handle_mission_count(
GCS_MAVLINK &_link,
const mavlink_mission_count_t &packet,
@ -61,21 +84,9 @@ void MissionItemProtocol::handle_mission_count(
return;
}
if (receiving) {
// someone is already uploading a mission. If we are
// receiving from someone then we will allow them to restart -
// otherwise we deny.
if (msg.sysid != dest_sysid || msg.compid != dest_compid) {
// reject another upload until
send_mission_ack(_link, msg, MAV_MISSION_DENIED);
if (!cancel_upload(_link, msg)) {
return;
}
// the upload count may have changed; free resources and
// allocate them again:
free_upload_resources();
receiving = false;
link = nullptr;
}
if (packet.count > max_items()) {
// FIXME: different items take up different storage space!

4
libraries/GCS_MAVLink/MissionItemProtocol.h
View File

@ -79,6 +79,10 @@ protected:
private:
// returns true if we are either not receiving, or we successfully
// cancelled an existing upload:
bool cancel_upload(const GCS_MAVLINK &_link, const mavlink_message_t &msg);
virtual void truncate(const mavlink_mission_count_t &packet) = 0;
uint16_t request_i; // request index