mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.6 KiB
C++
50 lines
1.6 KiB
C++
#pragma once
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#include <AP_Rally/AP_Rally.h>
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#if HAL_RALLY_ENABLED
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#include "MissionItemProtocol.h"
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class MissionItemProtocol_Rally : public MissionItemProtocol {
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public:
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MissionItemProtocol_Rally(class AP_Rally &_rally) :
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rally(_rally) {}
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void truncate(const mavlink_mission_count_t &packet) override;
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MAV_MISSION_TYPE mission_type() const override { return MAV_MISSION_TYPE_RALLY; }
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MAV_MISSION_RESULT complete(const GCS_MAVLINK &_link) override;
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void timeout() override;
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/*
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static function to get rally item as mavlink_mission_item_int_t
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*/
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static bool get_item_as_mission_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet);
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protected:
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ap_message next_item_ap_message_id() const override {
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return MSG_NEXT_MISSION_REQUEST_RALLY;
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}
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bool clear_all_items() override WARN_IF_UNUSED;
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private:
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AP_Rally &rally;
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uint16_t item_count() const override;
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uint16_t max_items() const override;
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MAV_MISSION_RESULT replace_item(const mavlink_mission_item_int_t&) override WARN_IF_UNUSED;
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MAV_MISSION_RESULT append_item(const mavlink_mission_item_int_t&) override WARN_IF_UNUSED;
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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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static MAV_MISSION_RESULT convert_MISSION_ITEM_INT_to_RallyLocation(const mavlink_mission_item_int_t &cmd, class RallyLocation &ret) WARN_IF_UNUSED;
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};
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#endif // HAL_RALLY_ENABLED
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