#include <MissionManager.h>

Inheritance diagram for MissionManager:

Collaboration diagram for MissionManager:

Public Member Functions
	MissionManager (Vehicle *vehicle)

	~MissionManager ()

int	currentIndex (void) const
	Current mission item as reported by MISSION_CURRENT.

int	lastCurrentIndex (void) const
	Last current mission item reported while in Mission flight mode.

void	writeArduPilotGuidedMissionItem (const QGeoCoordinate &gotoCoord, bool altChangeOnly)

void	generateResumeMission (int resumeIndex)

Public Member Functions inherited from PlanManager
	PlanManager (Vehicle *vehicle, MAV_MISSION_TYPE planType)

	~PlanManager ()

bool	inProgress (void) const

const QList< MissionItem * > &	missionItems (void)

int	currentIndex (void) const
	Current mission item as reported by MISSION_CURRENT.

int	lastCurrentIndex (void) const
	Last current mission item reported while in Mission flight mode.

void	loadFromVehicle (void)

void	writeMissionItems (const QList< MissionItem * > &missionItems)

void	removeAll (void)

Additional Inherited Members
Public Types inherited from PlanManager
enum	ErrorCode_t { InternalError , AckTimeoutError , ProtocolError , RequestRangeError , ItemMismatchError , VehicleAckError , MissingRequestsError , MaxRetryExceeded , MissionTypeMismatch }
	Error codes returned in error signal. More...

Signals inherited from PlanManager
void	newMissionItemsAvailable (bool removeAllRequested)

void	inProgressChanged (bool inProgress)

void	error (int errorCode, const QString &errorMsg)

void	currentIndexChanged (int currentIndex)

void	lastCurrentIndexChanged (int lastCurrentIndex)

void	progressPctChanged (double progressPercentPct)

void	removeAllComplete (bool error)

void	sendComplete (bool error)

void	resumeMissionReady (void)

void	resumeMissionUploadFail (void)

Static Public Attributes inherited from PlanManager
static constexpr int	_ackTimeoutMilliseconds = 1500

static constexpr int	_retryTimeoutMilliseconds = 250

static constexpr int	_maxRetryCount = 5

static constexpr int	kTestAckTimeoutMs = 50
	Ack timeout used in unit tests (much shorter for faster tests)

Protected Types inherited from PlanManager
enum	AckType_t { AckNone , AckMissionCount , AckMissionItem , AckMissionRequest , AckMissionClearAll , AckGuidedItem }

enum	TransactionType_t { TransactionNone , TransactionRead , TransactionWrite , TransactionRemoveAll }

Protected Member Functions inherited from PlanManager
void	_startAckTimeout (AckType_t ack)

bool	_checkForExpectedAck (AckType_t receivedAck)

void	_readTransactionComplete (void)

void	_handleMissionCount (const mavlink_message_t &message)

void	_handleMissionItem (const mavlink_message_t &message)

void	_handleMissionRequest (const mavlink_message_t &message)

void	_handleMissionAck (const mavlink_message_t &message)

void	_requestNextMissionItem (void)

void	_clearMissionItems (void)

void	_sendError (ErrorCode_t errorCode, const QString &errorMsg)

QString	_ackTypeToString (AckType_t ackType)

QString	_missionResultToString (MAV_MISSION_RESULT result)

void	_finishTransaction (bool success, bool apmGuidedItemWrite=false)

void	_requestList (void)
	Internal call to request list of mission items. May be called during a retry sequence.

void	_writeMissionCount (void)
	This begins the write sequence with the vehicle. This may be called during a retry.

void	_writeMissionItemsWorker (void)

void	_clearAndDeleteMissionItems (void)

void	_clearAndDeleteWriteMissionItems (void)

QString	_lastMissionReqestString (MAV_MISSION_RESULT result)

void	_removeAllWorker (void)

void	_connectToMavlink (void)

void	_disconnectFromMavlink (void)

QString	_planTypeString (void)

Protected Attributes inherited from PlanManager
Vehicle *	_vehicle = nullptr

MAV_MISSION_TYPE	_planType

QTimer *	_ackTimeoutTimer = nullptr

AckType_t	_expectedAck

int	_retryCount

TransactionType_t	_transactionInProgress

bool	_resumeMission

QList< int >	_itemIndicesToWrite
	List of mission items which still need to be written to vehicle.

QList< int >	_itemIndicesToRead
	List of mission items which still need to be requested from vehicle.

int	_lastMissionRequest
	Index of item last requested by MISSION_REQUEST.

int	_missionItemCountToRead
	Count of all mission items to read.

QList< MissionItem * >	_missionItems
	Set of mission items on vehicle.

QList< MissionItem * >	_writeMissionItems
	Set of mission items currently being written to vehicle.

int	_currentMissionIndex

int	_lastCurrentIndex

Detailed Description

Definition at line 11 of file MissionManager.h.

Constructor & Destructor Documentation

◆ MissionManager()

MissionManager::MissionManager ( Vehicle * vehicle )

Definition at line 12 of file MissionManager.cc.

References Vehicle::mavlinkMessageReceived().

◆ ~MissionManager()

MissionManager::~MissionManager ( )

Definition at line 19 of file MissionManager.cc.

Member Function Documentation

◆ currentIndex()

int MissionManager::currentIndex ( void ) const

inline

Current mission item as reported by MISSION_CURRENT.

Definition at line 21 of file MissionManager.h.

References PlanManager::_currentMissionIndex.

Referenced by MissionController::currentMissionIndex().

◆ generateResumeMission()

void MissionManager::generateResumeMission ( int resumeIndex )

Generates a new mission which starts from the specified index. It will include all the CMD_DO items from mission start to resumeIndex in the generate mission.

Definition at line 68 of file MissionManager.cc.

References PlanManager::_clearAndDeleteWriteMissionItems(), PlanManager::_missionItems, PlanManager::_resumeMission, PlanManager::_vehicle, PlanManager::_writeMissionItems, PlanManager::_writeMissionItemsWorker(), MissionItem::command(), Vehicle::firmwarePlugin(), MissionCommandTree::getUIInfo(), PlanManager::inProgress(), MissionCommandTree::instance(), Vehicle::isOfflineEditingVehicle(), MissionCommandUIInfo::isStandaloneCoordinate(), MissionCommandUIInfo::isTakeoffCommand(), MissionItem::param3(), qgcApp, FirmwarePlugin::sendHomePositionToVehicle(), MissionItem::setIsCurrentItem(), MissionItem::setSequenceNumber(), MissionCommandUIInfo::specifiesCoordinate(), and Vehicle::vehicleClass().