mirror of https://github.com/ArduPilot/ardupilot
140 lines
4.2 KiB
C++
140 lines
4.2 KiB
C++
/*
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Implementation details for transfering rally point information using
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the MISSION_ITEM protocol to and from a GCS.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "MissionItemProtocol_Rally.h"
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#include <AP_Logger/AP_Logger.h>
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#include <AP_Rally/AP_Rally.h>
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#include <GCS_MAVLink/GCS.h>
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MAV_MISSION_RESULT MissionItemProtocol_Rally::append_item(const mavlink_mission_item_int_t &cmd)
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{
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RallyLocation rallyloc;
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const MAV_MISSION_RESULT ret = convert_MISSION_ITEM_INT_to_RallyLocation(cmd, rallyloc);
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if (ret != MAV_MISSION_ACCEPTED) {
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return ret;
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}
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if (!rally.append(rallyloc)) {
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return MAV_MISSION_ERROR;
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}
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return MAV_MISSION_ACCEPTED;
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}
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MAV_MISSION_RESULT MissionItemProtocol_Rally::complete(const GCS_MAVLINK &_link)
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{
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AP::logger().Write_Rally();
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return MAV_MISSION_ACCEPTED;
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}
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bool MissionItemProtocol_Rally::clear_all_items()
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{
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rally.truncate(0);
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return true;
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}
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MAV_MISSION_RESULT MissionItemProtocol_Rally::convert_MISSION_ITEM_INT_to_RallyLocation(const mavlink_mission_item_int_t &cmd, RallyLocation &ret)
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{
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if (cmd.command != MAV_CMD_NAV_RALLY_POINT) {
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return MAV_MISSION_UNSUPPORTED;
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}
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if (cmd.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
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cmd.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT) {
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return MAV_MISSION_UNSUPPORTED_FRAME;
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}
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if (!check_lat(cmd.x)) {
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return MAV_MISSION_INVALID_PARAM5_X;
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}
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if (!check_lng(cmd.y)) {
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return MAV_MISSION_INVALID_PARAM6_Y;
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}
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if (cmd.z < INT16_MIN || cmd.z > INT16_MAX) {
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return MAV_MISSION_INVALID_PARAM7;
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}
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ret = {};
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ret.lat = cmd.x;
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ret.lng = cmd.y;
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ret.alt = cmd.z;
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return MAV_MISSION_ACCEPTED;
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}
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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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bool MissionItemProtocol_Rally::get_item_as_mission_item(uint16_t seq,
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mavlink_mission_item_int_t &ret_packet)
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{
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auto *rallyp = AP::rally();
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RallyLocation rallypoint;
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if (rallyp == nullptr || !rallyp->get_rally_point_with_index(seq, rallypoint)) {
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return false;
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}
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ret_packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
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ret_packet.command = MAV_CMD_NAV_RALLY_POINT;
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ret_packet.x = rallypoint.lat;
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ret_packet.y = rallypoint.lng;
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ret_packet.z = rallypoint.alt;
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return true;
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}
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MAV_MISSION_RESULT MissionItemProtocol_Rally::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)
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{
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if (!get_item_as_mission_item(packet.seq, ret_packet)) {
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return MAV_MISSION_INVALID_SEQUENCE;
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}
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return MAV_MISSION_ACCEPTED;
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}
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uint16_t MissionItemProtocol_Rally::item_count() const {
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return rally.get_rally_total();
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}
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uint16_t MissionItemProtocol_Rally::max_items() const {
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return rally.get_rally_max();
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}
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MAV_MISSION_RESULT MissionItemProtocol_Rally::replace_item(const mavlink_mission_item_int_t &cmd)
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{
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RallyLocation rallyloc;
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const MAV_MISSION_RESULT ret = convert_MISSION_ITEM_INT_to_RallyLocation(cmd, rallyloc);
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if (ret != MAV_MISSION_ACCEPTED) {
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return ret;
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}
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if (!rally.set_rally_point_with_index(cmd.seq, rallyloc)) {
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return MAV_MISSION_ERROR;
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}
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return MAV_MISSION_ACCEPTED;
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}
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void MissionItemProtocol_Rally::timeout()
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{
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link->send_text(MAV_SEVERITY_WARNING, "Rally upload timeout");
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}
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void MissionItemProtocol_Rally::truncate(const mavlink_mission_count_t &packet)
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{
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rally.truncate(packet.count);
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}
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