mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.9 KiB
C++
58 lines
1.9 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(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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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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