mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.4 KiB
C++
75 lines
2.4 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "AP_Filesystem_backend.h"
|
|
#include <GCS_MAVLink/GCS_MAVLink.h>
|
|
#include <AP_Common/ExpandingString.h>
|
|
|
|
class AP_Filesystem_Mission : public AP_Filesystem_Backend
|
|
{
|
|
public:
|
|
// functions that closely match the equivalent posix calls
|
|
int open(const char *fname, int flags, bool allow_absolute_paths = false) override;
|
|
int close(int fd) override;
|
|
int32_t read(int fd, void *buf, uint32_t count) override;
|
|
int32_t lseek(int fd, int32_t offset, int whence) override;
|
|
int32_t write(int fd, const void *buf, uint32_t count) override;
|
|
int stat(const char *pathname, struct stat *stbuf) override;
|
|
|
|
private:
|
|
// only allow up to 4 files at a time
|
|
static constexpr uint8_t max_open_file = 4;
|
|
|
|
static constexpr uint16_t mission_magic = 0x763d;
|
|
|
|
enum class Options {
|
|
NO_CLEAR = (1U<<0), // don't clear the old mission
|
|
};
|
|
|
|
// header at front of the file
|
|
struct header {
|
|
uint16_t magic = mission_magic;
|
|
uint16_t data_type; // MAV_MISSION_TYPE_*
|
|
uint16_t options; // optional features
|
|
uint16_t start; // first WP num, 0 for full upload
|
|
uint16_t num_items;
|
|
};
|
|
|
|
struct rfile {
|
|
bool open;
|
|
ExpandingString *writebuf;
|
|
uint32_t file_ofs;
|
|
uint32_t num_items;
|
|
enum MAV_MISSION_TYPE mtype;
|
|
uint32_t last_op_ms;
|
|
} file[max_open_file];
|
|
|
|
bool check_file_name(const char *fname, enum MAV_MISSION_TYPE &mtype);
|
|
|
|
// get one item
|
|
bool get_item(uint32_t idx, enum MAV_MISSION_TYPE mtype, mavlink_mission_item_int_t &item) const;
|
|
|
|
// get number of items
|
|
uint32_t get_num_items(enum MAV_MISSION_TYPE mtype) const;
|
|
|
|
// finish loading items
|
|
bool finish_upload(const rfile &r);
|
|
|
|
// see if a block of memory is all zero
|
|
bool all_zero(const uint8_t *b, uint8_t size) const;
|
|
};
|