ardupilot/libraries/GCS_MAVLink/GCS_Rally.cpp

186 lines
5.7 KiB
C++

/*
GCS MAVLink functions related to rally points
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 "GCS.h"
#include <AP_Rally/AP_Rally.h>
#include <AP_Logger/AP_Logger.h>
void GCS_MAVLINK::handle_rally_point(mavlink_message_t *msg)
{
AP_Rally *r = AP::rally();
if (r == nullptr) {
return;
}
mavlink_rally_point_t packet;
mavlink_msg_rally_point_decode(msg, &packet);
if (packet.idx >= r->get_rally_total() ||
packet.idx >= r->get_rally_max()) {
send_text(MAV_SEVERITY_WARNING,"Bad rally point ID");
return;
}
if (packet.count != r->get_rally_total()) {
send_text(MAV_SEVERITY_WARNING,"Bad rally point count");
return;
}
// sanity check location
if (!check_latlng(packet.lat, packet.lng)) {
return;
}
RallyLocation rally_point;
rally_point.lat = packet.lat;
rally_point.lng = packet.lng;
rally_point.alt = packet.alt;
rally_point.break_alt = packet.break_alt;
rally_point.land_dir = packet.land_dir;
rally_point.flags = packet.flags;
if (!r->set_rally_point_with_index(packet.idx, rally_point)) {
send_text(MAV_SEVERITY_CRITICAL, "Error setting rally point");
}
}
void GCS_MAVLINK::handle_rally_fetch_point(mavlink_message_t *msg)
{
AP_Rally *r = AP::rally();
if (r == nullptr) {
return;
}
mavlink_rally_fetch_point_t packet;
mavlink_msg_rally_fetch_point_decode(msg, &packet);
if (packet.idx > r->get_rally_total()) {
send_text(MAV_SEVERITY_WARNING, "Bad rally point ID");
return;
}
RallyLocation rally_point;
if (!r->get_rally_point_with_index(packet.idx, rally_point)) {
send_text(MAV_SEVERITY_WARNING, "Failed to get rally point");
return;
}
mavlink_msg_rally_point_send(chan, msg->sysid, msg->compid, packet.idx,
r->get_rally_total(), rally_point.lat, rally_point.lng,
rally_point.alt, rally_point.break_alt, rally_point.land_dir,
rally_point.flags);
}
void GCS_MAVLINK::handle_common_rally_message(mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_RALLY_POINT:
handle_rally_point(msg);
break;
case MAVLINK_MSG_ID_RALLY_FETCH_POINT:
handle_rally_fetch_point(msg);
break;
default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled common rally message");
#endif
break;
}
}
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)
{
RallyLocation rallypoint;
if (!rally.get_rally_point_with_index(packet.seq, rallypoint)) {
return MAV_MISSION_INVALID_SEQUENCE;
}
ret_packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT_INT;
ret_packet.command = MAV_CMD_NAV_RALLY_POINT;
ret_packet.x = rallypoint.lat;
ret_packet.y = rallypoint.lng;
ret_packet.z = rallypoint.alt;
return MAV_MISSION_ACCEPTED;
}
void MissionItemProtocol_Rally::truncate(const mavlink_mission_count_t &packet)
{
rally.truncate(packet.count);
}
void MissionItemProtocol_Rally::timeout()
{
link->send_text(MAV_SEVERITY_WARNING, "Rally upload timeout");
}
MAV_MISSION_RESULT MissionItemProtocol_Rally::convert_MISSION_ITEM_INT_to_RallyLocation(const mavlink_mission_item_int_t &cmd, RallyLocation &ret)
{
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.lat = cmd.x;
ret.lng = cmd.y;
ret.alt = cmd.z;
return MAV_MISSION_ACCEPTED;
}
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;
}
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;
}
void MissionItemProtocol_Rally::complete(const GCS_MAVLINK &_link)
{
_link.send_text(MAV_SEVERITY_INFO, "Rally points received");
AP::logger().Write_Rally();
}