mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.6 KiB
C++
69 lines
2.6 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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// get_item() fills in ret_packet based on packet; _link is the
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// link the request was received on, and msg is the undecoded
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// request. Note that msg may not actually decode to a
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// request_int_t!
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MAV_MISSION_RESULT get_item(const GCS_MAVLINK &_link,
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const mavlink_message_t &msg,
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const mavlink_mission_request_int_t &packet,
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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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