void
MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
{
mavlink_mission_clear_all_t wpca;
mavlink_msg_mission_clear_all_decode(msg, &wpca);
if (CHECK_SYSID_COMPID_MISSION(wpca)) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
/* don't touch mission items storage itself, but only items count in mission state */
_time_last_recv = hrt_absolute_time();
if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == OK) {
if (_verbose) { warnx("WPM: CLEAR_ALL OK"); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
}
} else {
_mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy");
if (_verbose) { warnx("WPM: CLEAR_ALL IGNORED: busy"); }
}
}
}
void
MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
{
dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id);
struct mission_item_s mission_item;
if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
_time_last_sent = hrt_absolute_time();
/* create mission_item_s from mavlink_mission_item_t */
mavlink_mission_item_t wp;
format_mavlink_mission_item(&mission_item, &wp);
wp.target_system = sysid;
wp.target_component = compid;
wp.seq = seq;
wp.current = (_current_seq == seq) ? 1 : 0;
_mavlink->send_message(MAVLINK_MSG_ID_MISSION_ITEM, &wp);
if (_verbose) { warnx("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system); }
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("Unable to read from micro SD");
if (_verbose) { warnx("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); }
}
}
void
MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
{
dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id);
struct mission_item_s mission_item;
if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
_time_last_sent = hrt_absolute_time();
if (_int_mode) {
mavlink_mission_item_int_t wp;
format_mavlink_mission_item(&mission_item, reinterpret_cast<mavlink_mission_item_t *>(&wp));
wp.target_system = sysid;
wp.target_component = compid;
wp.seq = seq;
wp.current = (_current_seq == seq) ? 1 : 0;
mavlink_msg_mission_item_int_send_struct(_mavlink->get_channel(), &wp);
if (_verbose) {
PX4_INFO("WPM: Send MISSION_ITEM_INT seq %u to ID %u", wp.seq, wp.target_system);
}
} else {
mavlink_mission_item_t wp;
format_mavlink_mission_item(&mission_item, &wp);
wp.target_system = sysid;
wp.target_component = compid;
wp.seq = seq;
wp.current = (_current_seq == seq) ? 1 : 0;
mavlink_msg_mission_item_send_struct(_mavlink->get_channel(), &wp);
if (_verbose) {
PX4_INFO("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system);
}
}
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
_mavlink->send_statustext_critical("Mission storage: Unable to read from microSD");
}
if (_verbose) { warnx("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); }
}
}
void
MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
{
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
if (CHECK_SYSID_COMPID_MISSION(wp)) {
if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
if (wp.seq != _transfer_seq) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); }
/* don't send request here, it will be performed in eventloop after timeout */
return;
}
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: no transfer"); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer");
return;
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: busy, state %i", _state); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
return;
}
struct mission_item_s mission_item;
int ret = parse_mavlink_mission_item(&wp, &mission_item);
if (ret != OK) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret);
_state = MAVLINK_WPM_STATE_IDLE;
_transfer_in_progress = false;
return;
}
dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("Unable to write on micro SD");
_state = MAVLINK_WPM_STATE_IDLE;
_transfer_in_progress = false;
return;
}
/* waypoint marked as current */
if (wp.current) {
_transfer_current_seq = wp.seq;
}
if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", wp.seq); }
_transfer_seq = wp.seq + 1;
if (_transfer_seq == _transfer_count) {
/* got all new mission items successfully */
if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
_mavlink->send_statustext_info("WPM: Transfer complete.");
_state = MAVLINK_WPM_STATE_IDLE;
if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
}
_transfer_in_progress = false;
} else {
/* request next item */
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
}
}
}
void
MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
{
mavlink_mission_count_t wpc;
mavlink_msg_mission_count_decode(msg, &wpc);
if (CHECK_SYSID_COMPID_MISSION(wpc)) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
_time_last_recv = hrt_absolute_time();
if(_transfer_in_progress)
{
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
return;
}
_transfer_in_progress = true;
if (wpc.count > _max_count) {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, _max_count); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_NO_SPACE);
_transfer_in_progress = false;
return;
}
if (wpc.count == 0) {
if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
/* alternate dataman ID anyway to let navigator know about changes */
update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0);
_mavlink->send_statustext_info("WPM: COUNT 0: CLEAR MISSION");
// TODO send ACK?
_transfer_in_progress = false;
return;
}
if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
_state = MAVLINK_WPM_STATE_GETLIST;
_transfer_seq = 0;
_transfer_partner_sysid = msg->sysid;
_transfer_partner_compid = msg->compid;
_transfer_count = wpc.count;
_transfer_dataman_id = _dataman_id == 0 ? 1 : 0; // use inactive storage for transmission
_transfer_current_seq = -1;
} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
if (_transfer_seq == 0) {
/* looks like our MISSION_REQUEST was lost, try again */
if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid); }
_mavlink->send_statustext_info("WP CMD OK TRY AGAIN");
} else {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); }
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
return;
}
} else {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, state %i", _state); }
_mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy");
return;
}
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
}
}
void
MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg)
{
mavlink_mission_request_t wpr;
mavlink_msg_mission_request_decode(msg, &wpr);
if (CHECK_SYSID_COMPID_MISSION(wpr)) {
if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) {
if (_state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
/* _transfer_seq contains sequence of expected request */
if (wpr.seq == _transfer_seq && _transfer_seq < _transfer_count) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u", wpr.seq, msg->sysid); }
_transfer_seq++;
} else if (wpr.seq == _transfer_seq - 1) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u (again)", wpr.seq, msg->sysid); }
} else {
if (_transfer_seq > 0 && _transfer_seq < _transfer_count) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid, _transfer_seq - 1, _transfer_seq); }
} else if (_transfer_seq <= 0) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq); }
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); }
}
_state = MAVLINK_WPM_STATE_IDLE;
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected");
return;
}
/* double check bounds in case of items count changed */
if (wpr.seq < _count) {
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, wpr.seq);
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u out of bound [%u, %u]", (unsigned)wpr.seq, (unsigned)wpr.seq, (unsigned)_count - 1); }
_state = MAVLINK_WPM_STATE_IDLE;
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected");
}
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: no transfer"); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM_REQUEST: No active transfer");
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: busy (state %d).", _state); }
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
}
} else {
_mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch");
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: rejected, partner ID mismatch"); }
}
}
}
