#include <PlanManager.h>

Inheritance diagram for PlanManager:

Collaboration diagram for PlanManager:

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

Signals
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)

Public Member Functions
	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)

Static Public Attributes
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
enum	AckType_t { AckNone , AckMissionCount , AckMissionItem , AckMissionRequest , AckMissionClearAll , AckGuidedItem }

enum	TransactionType_t { TransactionNone , TransactionRead , TransactionWrite , TransactionRemoveAll }

Protected Member Functions
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
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

The PlanManager class is the base class for the Mission, GeoFence and Rally Point managers. All of which use the new mavlink v2 mission protocol.

Definition at line 16 of file PlanManager.h.

Member Enumeration Documentation

◆ AckType_t

enum PlanManager::AckType_t

protected

Enumerator
AckNone	State machine is idle.
AckMissionCount	MISSION_COUNT message expected.
AckMissionItem	MISSION_ITEM expected.
AckMissionRequest	MISSION_REQUEST is expected, or MISSION_ACK to end sequence.
AckMissionClearAll	MISSION_CLEAR_ALL sent, MISSION_ACK is expected.
AckGuidedItem	MISSION_ACK expected in response to ArduPilot guided mode single item send.

Definition at line 87 of file PlanManager.h.

◆ ErrorCode_t

enum PlanManager::ErrorCode_t

Error codes returned in error signal.

Enumerator
InternalError
AckTimeoutError	Timed out waiting for response from vehicle.
ProtocolError	Incorrect protocol sequence from vehicle.
RequestRangeError	Vehicle requested item out of range.
ItemMismatchError	Vehicle returned item with seq # different than requested.
VehicleAckError	Vehicle returned error in ack.
MissingRequestsError	Vehicle did not request all items during write sequence.
MaxRetryExceeded	Retry failed.
MissionTypeMismatch	MAV_MISSION_TYPE does not match _planType.

Definition at line 48 of file PlanManager.h.

◆ TransactionType_t

enum PlanManager::TransactionType_t

protected

Enumerator
TransactionNone
TransactionRead
TransactionWrite
TransactionRemoveAll

Definition at line 96 of file PlanManager.h.

Constructor & Destructor Documentation

◆ PlanManager()

PlanManager::PlanManager	(	Vehicle *	vehicle,
		MAV_MISSION_TYPE	planType
	)

Definition at line 11 of file PlanManager.cc.

◆ ~PlanManager()

PlanManager::~PlanManager ( )

Definition at line 30 of file PlanManager.cc.

Member Function Documentation

◆ _ackTypeToString()

QString PlanManager::_ackTypeToString ( AckType_t ackType )

protected

Definition at line 672 of file PlanManager.cc.

References _planTypeString(), AckGuidedItem, AckMissionCount, AckMissionItem, AckMissionRequest, and AckNone.

Referenced by _checkForExpectedAck().

◆ _checkForExpectedAck()

bool PlanManager::_checkForExpectedAck ( AckType_t receivedAck )

protected

Checks the received ack against the expected ack. If they match the ack timeout timer will be stopped.

Returns: true: received ack matches expected ack

Definition at line 271 of file PlanManager.cc.

References _ackTimeoutTimer, _ackTypeToString(), _expectedAck, _planTypeString(), and AckNone.

Referenced by _handleMissionAck(), _handleMissionCount(), _handleMissionItem(), and _handleMissionRequest().

◆ _clearAndDeleteMissionItems()

void PlanManager::_clearAndDeleteMissionItems ( void )

protected

Definition at line 916 of file PlanManager.cc.

References _missionItems.

Referenced by _clearMissionItems(), _finishTransaction(), and removeAll().

◆ _clearAndDeleteWriteMissionItems()

void PlanManager::_clearAndDeleteWriteMissionItems ( void )

protected

Definition at line 926 of file PlanManager.cc.

References _writeMissionItems.

Referenced by _finishTransaction(), MissionManager::generateResumeMission(), and writeMissionItems().

◆ _clearMissionItems()

void PlanManager::_clearMissionItems ( void )

protected

Definition at line 480 of file PlanManager.cc.

References _clearAndDeleteMissionItems(), and _itemIndicesToRead.

Referenced by _requestList().

◆ _connectToMavlink()

void PlanManager::_connectToMavlink ( void )

protected

Definition at line 935 of file PlanManager.cc.

References _vehicle, and Vehicle::mavlinkMessageReceived().

Referenced by _removeAllWorker(), _writeMissionItemsWorker(), loadFromVehicle(), and MissionManager::writeArduPilotGuidedMissionItem().

◆ _disconnectFromMavlink()

void PlanManager::_disconnectFromMavlink ( void )

protected

Definition at line 940 of file PlanManager.cc.

References _vehicle, and Vehicle::mavlinkMessageReceived().

Referenced by _finishTransaction().

◆ _finishTransaction()

void PlanManager::_finishTransaction	(	bool	success,
		bool	apmGuidedItemWrite = `false`
	)

protected

◆ _handleMissionAck()

void PlanManager::_handleMissionAck ( const mavlink_message_t & message )

protected

Definition at line 555 of file PlanManager.cc.

References _checkForExpectedAck(), _expectedAck, _finishTransaction(), _itemIndicesToWrite, _missionResultToString(), _planType, _planTypeString(), _sendError(), _vehicle, AckGuidedItem, AckMissionClearAll, AckMissionCount, AckMissionItem, AckMissionRequest, AckNone, Vehicle::apmFirmware(), and VehicleAckError.

◆ _handleMissionCount()

void PlanManager::_handleMissionCount ( const mavlink_message_t & message )

protected

Definition at line 316 of file PlanManager.cc.

References _checkForExpectedAck(), _itemIndicesToRead, _missionItemCountToRead, _planType, _planTypeString(), _readTransactionComplete(), _requestNextMissionItem(), _retryCount, and AckMissionCount.

◆ _handleMissionItem()

void PlanManager::_handleMissionItem ( const mavlink_message_t & message )

protected

◆ _handleMissionRequest()

void PlanManager::_handleMissionRequest ( const mavlink_message_t & message )

protected

◆ _lastMissionReqestString()

QString PlanManager::_lastMissionReqestString ( MAV_MISSION_RESULT result )

protected

Definition at line 691 of file PlanManager.cc.

References _lastMissionRequest, _writeMissionItems, MissionItem::command(), MissionItem::frame(), MissionCommandTree::instance(), MissionItem::param1(), MissionItem::param2(), MissionItem::param3(), MissionItem::param4(), MissionItem::param5(), MissionItem::param6(), and MissionItem::param7().

Referenced by _missionResultToString().

◆ _missionResultToString()

QString PlanManager::_missionResultToString ( MAV_MISSION_RESULT result )

protected

Definition at line 740 of file PlanManager.cc.

References _lastMissionReqestString(), _planTypeString(), and error.

Referenced by _handleMissionAck().

◆ _planTypeString()

QString PlanManager::_planTypeString ( void )

protected

Definition at line 945 of file PlanManager.cc.

References _planType.

Referenced by _ackTypeToString(), _checkForExpectedAck(), _handleMissionAck(), _handleMissionCount(), _handleMissionItem(), _handleMissionRequest(), _missionResultToString(), _requestList(), _requestNextMissionItem(), _sendError(), _writeMissionCount(), _writeMissionItemsWorker(), loadFromVehicle(), removeAll(), and writeMissionItems().

◆ _readTransactionComplete()

void PlanManager::_readTransactionComplete ( void )

protected

Definition at line 290 of file PlanManager.cc.

References _finishTransaction(), _planType, _vehicle, MAVLinkProtocol::getComponentId(), Vehicle::id(), MAVLinkProtocol::instance(), VehicleLinkManager::primaryLink(), Vehicle::sendMessageOnLinkThreadSafe(), and Vehicle::vehicleLinkManager().

Referenced by _handleMissionCount(), and _handleMissionItem().

◆ _removeAllWorker()

void PlanManager::_removeAllWorker ( void )

protected

Definition at line 869 of file PlanManager.cc.

References _connectToMavlink(), _planType, _startAckTimeout(), _vehicle, AckMissionClearAll, MAVLinkProtocol::getComponentId(), Vehicle::id(), MAVLinkProtocol::instance(), VehicleLinkManager::primaryLink(), progressPctChanged(), Vehicle::sendMessageOnLinkThreadSafe(), and Vehicle::vehicleLinkManager().

Referenced by removeAll().

◆ _requestList()

void PlanManager::_requestList ( void )

protected

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

Definition at line 142 of file PlanManager.cc.

References _clearMissionItems(), _itemIndicesToRead, _planType, _planTypeString(), _retryCount, _startAckTimeout(), _vehicle, AckMissionCount, MAVLinkProtocol::getComponentId(), Vehicle::id(), MAVLinkProtocol::instance(), VehicleLinkManager::primaryLink(), Vehicle::sendMessageOnLinkThreadSafe(), and Vehicle::vehicleLinkManager().

Referenced by loadFromVehicle().

◆ _requestNextMissionItem()

void PlanManager::_requestNextMissionItem ( void )

protected

Definition at line 349 of file PlanManager.cc.

References _itemIndicesToRead, _planType, _planTypeString(), _retryCount, _sendError(), _startAckTimeout(), _vehicle, AckMissionItem, MAVLinkProtocol::getComponentId(), Vehicle::id(), MAVLinkProtocol::instance(), InternalError, VehicleLinkManager::primaryLink(), Vehicle::sendMessageOnLinkThreadSafe(), and Vehicle::vehicleLinkManager().

Referenced by _handleMissionCount(), and _handleMissionItem().

◆ _sendError()

void PlanManager::_sendError	(	ErrorCode_t	errorCode,
		const QString &	errorMsg
	)

protected

Definition at line 665 of file PlanManager.cc.

References _planTypeString(), and error.

Referenced by _handleMissionAck(), _handleMissionRequest(), and _requestNextMissionItem().

◆ _startAckTimeout()

void PlanManager::_startAckTimeout ( AckType_t ack )

protected

Definition at line 241 of file PlanManager.cc.

References _ackTimeoutMilliseconds, _ackTimeoutTimer, _expectedAck, _retryTimeoutMilliseconds, AckGuidedItem, AckMissionClearAll, AckMissionCount, AckMissionItem, AckMissionRequest, AckNone, kTestAckTimeoutMs, and qgcApp.

Referenced by _handleMissionItem(), _handleMissionRequest(), _removeAllWorker(), _requestList(), _requestNextMissionItem(), _writeMissionCount(), and MissionManager::writeArduPilotGuidedMissionItem().

◆ _writeMissionCount()

void PlanManager::_writeMissionCount ( void )

protected

This begins the write sequence with the vehicle. This may be called during a retry.

Definition at line 97 of file PlanManager.cc.

References _planType, _planTypeString(), _retryCount, _startAckTimeout(), _vehicle, _writeMissionItems, AckMissionRequest, MAVLinkProtocol::getComponentId(), Vehicle::id(), MAVLinkProtocol::instance(), VehicleLinkManager::primaryLink(), Vehicle::sendMessageOnLinkThreadSafe(), and Vehicle::vehicleLinkManager().

Referenced by _writeMissionItemsWorker().

◆ _writeMissionItemsWorker()

void PlanManager::_writeMissionItemsWorker ( void )

protected

Definition at line 35 of file PlanManager.cc.

References _connectToMavlink(), _itemIndicesToWrite, _lastMissionRequest, _planTypeString(), _retryCount, _writeMissionCount(), _writeMissionItems, progressPctChanged(), and TransactionWrite.

Referenced by MissionManager::generateResumeMission(), and writeMissionItems().

◆ currentIndex()

int PlanManager::currentIndex ( void ) const

inline

Current mission item as reported by MISSION_CURRENT.

Definition at line 28 of file PlanManager.h.

◆ currentIndexChanged

void PlanManager::currentIndexChanged ( int currentIndex )

signal

Referenced by _finishTransaction(), and removeAll().

◆ error

void PlanManager::error	(	int	errorCode,
		const QString &	errorMsg
	)

signal

Referenced by GeoFenceManager::GeoFenceManager(), and RallyPointManager::RallyPointManager().

◆ inProgress()

bool PlanManager::inProgress ( void ) const

Definition at line 864 of file PlanManager.cc.

References _transactionInProgress, and TransactionNone.

Referenced by MissionManager::generateResumeMission(), loadFromVehicle(), removeAll(), GeoFenceController::syncInProgress(), MissionController::syncInProgress(), RallyPointController::syncInProgress(), MissionManager::writeArduPilotGuidedMissionItem(), and writeMissionItems().

◆ inProgressChanged

void PlanManager::inProgressChanged ( bool inProgress )

signal

Referenced by GeoFenceManager::GeoFenceManager(), RallyPointManager::RallyPointManager(), and MissionManager::writeArduPilotGuidedMissionItem().

◆ lastCurrentIndex()

int PlanManager::lastCurrentIndex ( void ) const

inline

Last current mission item reported while in Mission flight mode.

Definition at line 31 of file PlanManager.h.

◆ lastCurrentIndexChanged

void PlanManager::lastCurrentIndexChanged ( int lastCurrentIndex )

signal

Referenced by _finishTransaction(), and removeAll().

◆ loadFromVehicle()

void PlanManager::loadFromVehicle ( void )

Load the mission items from the vehicle Signals newMissionItemsAvailable when done

Definition at line 122 of file PlanManager.cc.

References _connectToMavlink(), _planTypeString(), _requestList(), _retryCount, _vehicle, inProgress(), Vehicle::isOfflineEditingVehicle(), and TransactionRead.

Referenced by GeoFenceController::loadFromVehicle(), MissionController::loadFromVehicle(), and RallyPointController::loadFromVehicle().

◆ missionItems()

const QList< MissionItem * > & PlanManager::missionItems ( void )

inline

Definition at line 25 of file PlanManager.h.

Referenced by writeMissionItems().

◆ newMissionItemsAvailable

void PlanManager::newMissionItemsAvailable ( bool removeAllRequested )

signal

Referenced by _finishTransaction(), GeoFenceManager::GeoFenceManager(), and RallyPointManager::RallyPointManager().

◆ progressPctChanged

void PlanManager::progressPctChanged ( double progressPercentPct )

signal

Referenced by _finishTransaction(), _handleMissionItem(), _handleMissionRequest(), _removeAllWorker(), and _writeMissionItemsWorker().

◆ removeAll()

void PlanManager::removeAll ( void )

Removes all mission items from vehicle Signals removeAllComplete when done

Definition at line 893 of file PlanManager.cc.

References _clearAndDeleteMissionItems(), _currentMissionIndex, _lastCurrentIndex, _planType, _planTypeString(), _removeAllWorker(), _retryCount, currentIndexChanged(), inProgress(), lastCurrentIndexChanged(), and TransactionRemoveAll.

Referenced by GeoFenceManager::removeAll(), RallyPointManager::removeAll(), and MissionController::removeAllFromVehicle().

◆ removeAllComplete

void PlanManager::removeAllComplete ( bool error )

signal

Referenced by _finishTransaction(), GeoFenceManager::GeoFenceManager(), and RallyPointManager::RallyPointManager().

◆ resumeMissionReady

void PlanManager::resumeMissionReady ( void )

signal

Referenced by _finishTransaction().

◆ resumeMissionUploadFail

void PlanManager::resumeMissionUploadFail ( void )

signal

Referenced by _finishTransaction().

◆ sendComplete

void PlanManager::sendComplete ( bool error )

signal

Referenced by _finishTransaction(), GeoFenceManager::GeoFenceManager(), and RallyPointManager::RallyPointManager().

◆ writeMissionItems()

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

Writes the specified set of mission items to the vehicle IMPORTANT NOTE: PlanManager will take control of the MissionItem objects with the missionItems list. It will free them when done.

Parameters

missionItems Items to send to vehicle Signals sendComplete when done

Definition at line 56 of file PlanManager.cc.

References _clearAndDeleteWriteMissionItems(), _planType, _planTypeString(), _vehicle, _writeMissionItems, _writeMissionItemsWorker(), MissionItem::command(), Vehicle::firmwarePlugin(), inProgress(), Vehicle::isOfflineEditingVehicle(), missionItems(), MissionItem::param1(), FirmwarePlugin::sendHomePositionToVehicle(), MissionItem::sequenceNumber(), MissionItem::setIsCurrentItem(), MissionItem::setParam1(), and MissionItem::setSequenceNumber().

Referenced by MissionController::sendItemsToVehicle(), GeoFenceManager::sendToVehicle(), and RallyPointManager::sendToVehicle().

Member Data Documentation

◆ _ackTimeoutMilliseconds

constexpr int PlanManager::_ackTimeoutMilliseconds = 1500

staticconstexpr

Definition at line 62 of file PlanManager.h.

Referenced by _startAckTimeout().

◆ _ackTimeoutTimer

QTimer* PlanManager::_ackTimeoutTimer = nullptr

protected

Definition at line 131 of file PlanManager.h.

Referenced by _checkForExpectedAck(), and _startAckTimeout().

◆ _currentMissionIndex

int PlanManager::_currentMissionIndex

protected

Definition at line 144 of file PlanManager.h.

Referenced by _finishTransaction(), MissionManager::currentIndex(), and removeAll().

◆ _expectedAck

AckType_t PlanManager::_expectedAck

protected

Definition at line 132 of file PlanManager.h.

Referenced by _checkForExpectedAck(), _handleMissionAck(), and _startAckTimeout().

◆ _itemIndicesToRead

QList<int> PlanManager::_itemIndicesToRead

protected

List of mission items which still need to be requested from vehicle.

Definition at line 138 of file PlanManager.h.

Referenced by _clearMissionItems(), _finishTransaction(), _handleMissionCount(), _handleMissionItem(), _requestList(), and _requestNextMissionItem().

◆ _itemIndicesToWrite

QList<int> PlanManager::_itemIndicesToWrite

protected

List of mission items which still need to be written to vehicle.

Definition at line 137 of file PlanManager.h.

Referenced by _finishTransaction(), _handleMissionAck(), _handleMissionRequest(), and _writeMissionItemsWorker().

◆ _lastCurrentIndex

int PlanManager::_lastCurrentIndex

protected

Definition at line 145 of file PlanManager.h.

Referenced by _finishTransaction(), MissionManager::lastCurrentIndex(), and removeAll().

◆ _lastMissionRequest

int PlanManager::_lastMissionRequest

protected

Index of item last requested by MISSION_REQUEST.

Definition at line 139 of file PlanManager.h.

Referenced by _handleMissionRequest(), _lastMissionReqestString(), and _writeMissionItemsWorker().

◆ _maxRetryCount

constexpr int PlanManager::_maxRetryCount = 5

staticconstexpr

Definition at line 65 of file PlanManager.h.

◆ _missionItemCountToRead

int PlanManager::_missionItemCountToRead

protected

Count of all mission items to read.

Definition at line 140 of file PlanManager.h.

Referenced by _handleMissionCount(), and _handleMissionItem().

◆ _missionItems

QList<MissionItem*> PlanManager::_missionItems

protected

Set of mission items on vehicle.

Definition at line 142 of file PlanManager.h.

Referenced by _clearAndDeleteMissionItems(), _finishTransaction(), _handleMissionItem(), and MissionManager::generateResumeMission().

◆ _planType

MAV_MISSION_TYPE PlanManager::_planType

protected

Definition at line 129 of file PlanManager.h.

Referenced by _finishTransaction(), _handleMissionAck(), _handleMissionCount(), _handleMissionItem(), _handleMissionRequest(), _planTypeString(), _readTransactionComplete(), _removeAllWorker(), _requestList(), _requestNextMissionItem(), _writeMissionCount(), removeAll(), and writeMissionItems().

◆ _resumeMission

bool PlanManager::_resumeMission

protected

Definition at line 136 of file PlanManager.h.

Referenced by _finishTransaction(), and MissionManager::generateResumeMission().

◆ _retryCount

int PlanManager::_retryCount

protected

Definition at line 133 of file PlanManager.h.

Referenced by _handleMissionCount(), _handleMissionItem(), _requestList(), _requestNextMissionItem(), _writeMissionCount(), _writeMissionItemsWorker(), loadFromVehicle(), and removeAll().

◆ _retryTimeoutMilliseconds

constexpr int PlanManager::_retryTimeoutMilliseconds = 250

staticconstexpr

Definition at line 64 of file PlanManager.h.

Referenced by _startAckTimeout().

◆ _transactionInProgress

TransactionType_t PlanManager::_transactionInProgress

protected

Definition at line 135 of file PlanManager.h.

Referenced by _finishTransaction(), inProgress(), and MissionManager::writeArduPilotGuidedMissionItem().

◆ _vehicle

Vehicle* PlanManager::_vehicle = nullptr

protected

Definition at line 128 of file PlanManager.h.

Referenced by _connectToMavlink(), _disconnectFromMavlink(), _handleMissionAck(), _handleMissionItem(), _handleMissionRequest(), _readTransactionComplete(), _removeAllWorker(), _requestList(), _requestNextMissionItem(), _writeMissionCount(), MissionManager::generateResumeMission(), loadFromVehicle(), GeoFenceManager::supported(), RallyPointManager::supported(), MissionManager::writeArduPilotGuidedMissionItem(), and writeMissionItems().

◆ _writeMissionItems

QList<MissionItem*> PlanManager::_writeMissionItems

protected

Set of mission items currently being written to vehicle.

Definition at line 143 of file PlanManager.h.

Referenced by _clearAndDeleteWriteMissionItems(), _finishTransaction(), _handleMissionRequest(), _lastMissionReqestString(), _writeMissionCount(), _writeMissionItemsWorker(), MissionManager::generateResumeMission(), and writeMissionItems().

◆ kTestAckTimeoutMs

constexpr int PlanManager::kTestAckTimeoutMs = 50

staticconstexpr

Ack timeout used in unit tests (much shorter for faster tests)

Definition at line 68 of file PlanManager.h.

Referenced by _startAckTimeout().

The documentation for this class was generated from the following files:

src/MissionManager/PlanManager.h
src/MissionManager/PlanManager.cc

Public Types

Signals

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ AckType_t

◆ ErrorCode_t

◆ TransactionType_t

Constructor & Destructor Documentation

◆ PlanManager()

◆ ~PlanManager()

Member Function Documentation

◆ _ackTypeToString()

◆ _checkForExpectedAck()

◆ _clearAndDeleteMissionItems()

◆ _clearAndDeleteWriteMissionItems()

◆ _clearMissionItems()

◆ _connectToMavlink()

◆ _disconnectFromMavlink()

◆ _finishTransaction()

◆ _handleMissionAck()

◆ _handleMissionCount()

◆ _handleMissionItem()

◆ _handleMissionRequest()

◆ _lastMissionReqestString()

◆ _missionResultToString()

◆ _planTypeString()

◆ _readTransactionComplete()

◆ _removeAllWorker()

◆ _requestList()

◆ _requestNextMissionItem()

◆ _sendError()

◆ _startAckTimeout()

◆ _writeMissionCount()

◆ _writeMissionItemsWorker()

◆ currentIndex()

◆ currentIndexChanged

◆ error

◆ inProgress()

◆ inProgressChanged

◆ lastCurrentIndex()

◆ lastCurrentIndexChanged

◆ loadFromVehicle()

◆ missionItems()

◆ newMissionItemsAvailable

◆ progressPctChanged

◆ removeAll()

◆ removeAllComplete

◆ resumeMissionReady

◆ resumeMissionUploadFail

◆ sendComplete

◆ writeMissionItems()

Member Data Documentation

◆ _ackTimeoutMilliseconds

◆ _ackTimeoutTimer

◆ _currentMissionIndex

◆ _expectedAck

◆ _itemIndicesToRead

◆ _itemIndicesToWrite

◆ _lastCurrentIndex

◆ _lastMissionRequest

◆ _maxRetryCount

◆ _missionItemCountToRead

◆ _missionItems

◆ _planType

◆ _resumeMission

◆ _retryCount

◆ _retryTimeoutMilliseconds

◆ _transactionInProgress

◆ _vehicle

◆ _writeMissionItems

◆ kTestAckTimeoutMs