ardupilot/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp

140 lines
4.2 KiB
C++

/*
Implementation details for transfering rally point information using
the MISSION_ITEM protocol to and from a GCS.
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/>.
*/
#include "MissionItemProtocol_Rally.h"
#include <AP_Logger/AP_Logger.h>
#include <AP_Rally/AP_Rally.h>
#include <GCS_MAVLink/GCS.h>
MAV_MISSION_RESULT MissionItemProtocol_Rally::append_item(const mavlink_mission_item_int_t &cmd)
{
RallyLocation rallyloc;
const MAV_MISSION_RESULT ret = convert_MISSION_ITEM_INT_to_RallyLocation(cmd, rallyloc);
if (ret != MAV_MISSION_ACCEPTED) {
return ret;
}
if (!rally.append(rallyloc)) {
return MAV_MISSION_ERROR;
}
return MAV_MISSION_ACCEPTED;
}
MAV_MISSION_RESULT MissionItemProtocol_Rally::complete(const GCS_MAVLINK &_link)
{
AP::logger().Write_Rally();
return MAV_MISSION_ACCEPTED;
}
bool MissionItemProtocol_Rally::clear_all_items()
{
rally.truncate(0);
return true;
}
MAV_MISSION_RESULT MissionItemProtocol_Rally::convert_MISSION_ITEM_INT_to_RallyLocation(const mavlink_mission_item_int_t &cmd, RallyLocation &ret)
{
if (cmd.command != MAV_CMD_NAV_RALLY_POINT) {
return MAV_MISSION_UNSUPPORTED;
}
if (cmd.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
cmd.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT) {
return MAV_MISSION_UNSUPPORTED_FRAME;
}
if (!check_lat(cmd.x)) {
return MAV_MISSION_INVALID_PARAM5_X;
}
if (!check_lng(cmd.y)) {
return MAV_MISSION_INVALID_PARAM6_Y;
}
if (cmd.z < INT16_MIN || cmd.z > INT16_MAX) {
return MAV_MISSION_INVALID_PARAM7;
}
ret = {};
ret.lat = cmd.x;
ret.lng = cmd.y;
ret.alt = cmd.z;
return MAV_MISSION_ACCEPTED;
}
/*
static function to get rally item as mavlink_mission_item_int_t
*/
bool MissionItemProtocol_Rally::get_item_as_mission_item(uint16_t seq,
mavlink_mission_item_int_t &ret_packet)
{
auto *rallyp = AP::rally();
RallyLocation rallypoint;
if (rallyp == nullptr || !rallyp->get_rally_point_with_index(seq, rallypoint)) {
return false;
}
ret_packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
ret_packet.command = MAV_CMD_NAV_RALLY_POINT;
ret_packet.x = rallypoint.lat;
ret_packet.y = rallypoint.lng;
ret_packet.z = rallypoint.alt;
return true;
}
MAV_MISSION_RESULT MissionItemProtocol_Rally::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)
{
if (!get_item_as_mission_item(packet.seq, ret_packet)) {
return MAV_MISSION_INVALID_SEQUENCE;
}
return MAV_MISSION_ACCEPTED;
}
uint16_t MissionItemProtocol_Rally::item_count() const {
return rally.get_rally_total();
}
uint16_t MissionItemProtocol_Rally::max_items() const {
return rally.get_rally_max();
}
MAV_MISSION_RESULT MissionItemProtocol_Rally::replace_item(const mavlink_mission_item_int_t &cmd)
{
RallyLocation rallyloc;
const MAV_MISSION_RESULT ret = convert_MISSION_ITEM_INT_to_RallyLocation(cmd, rallyloc);
if (ret != MAV_MISSION_ACCEPTED) {
return ret;
}
if (!rally.set_rally_point_with_index(cmd.seq, rallyloc)) {
return MAV_MISSION_ERROR;
}
return MAV_MISSION_ACCEPTED;
}
void MissionItemProtocol_Rally::timeout()
{
link->send_text(MAV_SEVERITY_WARNING, "Rally upload timeout");
}
void MissionItemProtocol_Rally::truncate(const mavlink_mission_count_t &packet)
{
rally.truncate(packet.count);
}