mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 11:13:58 -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
55 lines
1.7 KiB
C++
55 lines
1.7 KiB
C++
#pragma once
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#include "MissionItemProtocol.h"
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#include <AC_Fence/AC_Fence.h>
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class AC_PolyFence_loader;
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class MissionItemProtocol_Fence : public MissionItemProtocol {
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public:
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MissionItemProtocol_Fence(class AC_Fence &fence) :
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_fence(fence) {}
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MAV_MISSION_TYPE mission_type() const override {
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return MAV_MISSION_TYPE_FENCE;
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}
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void truncate(const mavlink_mission_count_t &packet) override;
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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 format mission 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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static MAV_MISSION_RESULT convert_MISSION_ITEM_INT_to_AC_PolyFenceItem(const mavlink_mission_item_int_t &mission_item_int, class AC_PolyFenceItem &ret);
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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_FENCE;
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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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class AC_Fence &_fence;
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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(uint16_t seq, mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
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void free_upload_resources() override;
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MAV_MISSION_RESULT allocate_receive_resources(const uint16_t count) override WARN_IF_UNUSED;
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MAV_MISSION_RESULT allocate_update_resources() override WARN_IF_UNUSED;
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class AC_PolyFenceItem *_new_items;
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uint16_t _new_items_count;
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uint8_t *_updated_mask;
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};
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