Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <AP_Rally/AP_Rally.h>
       4             : 
       5             : #if HAL_RALLY_ENABLED
       6             : 
       7             : #include "MissionItemProtocol.h"
       8             : 
       9             : class MissionItemProtocol_Rally : public MissionItemProtocol {
      10             : public:
      11        2061 :     MissionItemProtocol_Rally(class AP_Rally &_rally) :
      12        2061 :         rally(_rally) {}
      13             :     void truncate(const mavlink_mission_count_t &packet) override;
      14        1793 :     MAV_MISSION_TYPE mission_type() const override { return MAV_MISSION_TYPE_RALLY; }
      15             : 
      16             :     MAV_MISSION_RESULT complete(const GCS_MAVLINK &_link) override;
      17             :     void timeout() override;
      18             : 
      19             :     /*
      20             :       static function to get rally item as mavlink_mission_item_int_t
      21             :     */
      22             :     static bool get_item_as_mission_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet);
      23             : 
      24             :     static MAV_MISSION_RESULT convert_MISSION_ITEM_INT_to_RallyLocation(const mavlink_mission_item_int_t &cmd, class RallyLocation &ret) WARN_IF_UNUSED;
      25             : 
      26             : protected:
      27             : 
      28           6 :     ap_message next_item_ap_message_id() const override {
      29           6 :         return MSG_NEXT_MISSION_REQUEST_RALLY;
      30             :     }
      31             :     bool clear_all_items() override WARN_IF_UNUSED;
      32             : 
      33             : private:
      34             :     AP_Rally &rally;
      35             : 
      36             :     uint16_t item_count() const override;
      37             :     uint16_t max_items() const override;
      38             : 
      39             :     MAV_MISSION_RESULT replace_item(const mavlink_mission_item_int_t&) override WARN_IF_UNUSED;
      40             :     MAV_MISSION_RESULT append_item(const mavlink_mission_item_int_t&) override WARN_IF_UNUSED;
      41             : 
      42             :     MAV_MISSION_RESULT get_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
      43             : 
      44             : };
      45             : 
      46             : #endif  // HAL_RALLY_ENABLED