mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-28 18:53:57 -04:00
4161c425d1
stop passing through _link and the original msg, move use to the base class instead. starts fence and rally also using the "correct the GCS's count" code. This also corrects the error code when correcting the GCS's count to INVALID_SEQUENCE rather than just ERROR
63 lines
2.3 KiB
C++
63 lines
2.3 KiB
C++
#pragma once
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#include "MissionItemProtocol.h"
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class MissionItemProtocol_Waypoints : public MissionItemProtocol {
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public:
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MissionItemProtocol_Waypoints(class AP_Mission &_mission) :
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mission(_mission) {}
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// mission_type returns the MAV_MISSION mavlink enumeration value
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// which this module is responsible for handling
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MAV_MISSION_TYPE mission_type() const override {
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return MAV_MISSION_TYPE_MISSION;
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}
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// complete() is called by the base class after all waypoints have
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// been received. _link is the link which the last item was
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// transfered on.
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MAV_MISSION_RESULT complete(const GCS_MAVLINK &_link) override;
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// timeout() is called by the base class in the case that the GCS
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// does not transfer all waypoints to the vehicle.
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void timeout() override;
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// truncate() is called to set the absolute number of items. It
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// must be less than or equal to the current number of items (you
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// can't truncate-to a longer list)
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void truncate(const mavlink_mission_count_t &packet) override;
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protected:
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// clear_all_items() is called to clear all items on the vehicle
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bool clear_all_items() override WARN_IF_UNUSED;
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// next_item_ap_message_id returns an item from the ap_message
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// enumeration which (when acted upon by the GCS class) will send
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// a mavlink message to the GCS requesting it upload the next
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// required waypoint.
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ap_message next_item_ap_message_id() const override {
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return MSG_NEXT_MISSION_REQUEST_WAYPOINTS;
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}
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private:
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AP_Mission &mission;
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// append_item() is called by the base class to add the supplied
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// item to the end of the list of stored items.
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MAV_MISSION_RESULT append_item(const mavlink_mission_item_int_t &) override WARN_IF_UNUSED;
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// support for GCS getting waypoints etc from us:
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MAV_MISSION_RESULT get_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
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// item_count() returns the number of stored items
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uint16_t item_count() const override;
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// item_count() returns the maximum number of items which could be
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// stored on-board
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uint16_t max_items() const override;
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// replace_item() replaces an item in the stored list
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MAV_MISSION_RESULT replace_item(const mavlink_mission_item_int_t &) override WARN_IF_UNUSED;
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};
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