Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "MissionItemProtocol.h"
       4             : 
       5             : class MissionItemProtocol_Waypoints : public MissionItemProtocol {
       6             : public:
       7        2094 :     MissionItemProtocol_Waypoints(class AP_Mission &_mission) :
       8        2094 :         mission(_mission) {}
       9             : 
      10             :     // mission_type returns the MAV_MISSION mavlink enumeration value
      11             :     // which this module is responsible for handling
      12       12319 :     MAV_MISSION_TYPE mission_type() const override {
      13       12319 :         return MAV_MISSION_TYPE_MISSION;
      14             :     }
      15             : 
      16             :     // complete() is called by the base class after all waypoints have
      17             :     // been received.  _link is the link which the last item was
      18             :     // transfered on.
      19             :     MAV_MISSION_RESULT complete(const GCS_MAVLINK &_link) override;
      20             :     // timeout() is called by the base class in the case that the GCS
      21             :     // does not transfer all waypoints to the vehicle.
      22             :     void timeout() override;
      23             :     // truncate() is called to set the absolute number of items.  It
      24             :     // must be less than or equal to the current number of items (you
      25             :     // can't truncate-to a longer list)
      26             :     void truncate(const mavlink_mission_count_t &packet) override;
      27             : 
      28             : protected:
      29             : 
      30             :     // clear_all_items() is called to clear all items on the vehicle
      31             :     bool clear_all_items() override WARN_IF_UNUSED;
      32             : 
      33             :     // next_item_ap_message_id returns an item from the ap_message
      34             :     // enumeration which (when acted upon by the GCS class) will send
      35             :     // a mavlink message to the GCS requesting it upload the next
      36             :     // required waypoint.
      37         335 :     ap_message next_item_ap_message_id() const override {
      38         335 :         return MSG_NEXT_MISSION_REQUEST_WAYPOINTS;
      39             :     }
      40             : 
      41             : private:
      42             :     AP_Mission &mission;
      43             : 
      44             :     // append_item() is called by the base class to add the supplied
      45             :     // item to the end of the list of stored items.
      46             :     MAV_MISSION_RESULT append_item(const mavlink_mission_item_int_t &) override WARN_IF_UNUSED;
      47             : 
      48             :     // support for GCS getting waypoints etc from us:
      49             :     MAV_MISSION_RESULT get_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
      50             : 
      51             :     // item_count() returns the number of stored items
      52             :     uint16_t item_count() const override;
      53             : 
      54             :     // item_count() returns the maximum number of items which could be
      55             :     // stored on-board
      56             :     uint16_t max_items() const override;
      57             : 
      58             :     // replace_item() replaces an item in the stored list
      59             :     MAV_MISSION_RESULT replace_item(const mavlink_mission_item_int_t &) override WARN_IF_UNUSED;
      60             : 
      61             : };
      62             :