ardupilot/libraries/GCS_MAVLink/MissionItemProtocol.h

133 lines
5.5 KiB
C++

#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
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;
// 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);
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() { }
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;
// complete - method called when transfer is complete - backends
// are expected to override this method to do any required tidy up.
virtual MAV_MISSION_RESULT complete(const GCS_MAVLINK &_link) {
return MAV_MISSION_ACCEPTED;
};
// 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
virtual void timeout() {};
bool mavlink2_requirement_met(const GCS_MAVLINK &_link, const mavlink_message_t &msg) const;
};