#include <RallyPointManager.h>

Inheritance diagram for RallyPointManager:

Collaboration diagram for RallyPointManager:

Public Types
enum	ErrorCode_t { InternalError , TooFewPoints , TooManyPoints , InvalidCircleRadius }
	Error codes returned in error signal. More...

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
void	loadComplete (void)

void	inProgressChanged (bool inProgress)

void	error (int errorCode, const QString &errorMsg)

void	removeAllComplete (bool error)

void	sendComplete (bool error)

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)

Public Member Functions
	RallyPointManager (Vehicle *vehicle)

	~RallyPointManager ()

bool	supported (void) const

void	sendToVehicle (const QList< QGeoCoordinate > &rgPoints)

void	removeAll (void)

QString	editorQml (void) const

QList< QGeoCoordinate >	points (void) const

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)

Protected Member Functions
void	_sendError (ErrorCode_t errorCode, const QString &errorMsg)

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
QList< QGeoCoordinate >	_rgPoints

QList< QGeoCoordinate >	_rgSendPoints

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

Additional Inherited Members
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 }

Detailed Description

This is the base class for firmware specific rally point managers. A rally point manager is responsible for communicating with the vehicle to set/get rally points.

Definition at line 15 of file RallyPointManager.h.

Member Enumeration Documentation

◆ ErrorCode_t

enum RallyPointManager::ErrorCode_t

Error codes returned in error signal.

Enumerator
InternalError
TooFewPoints	Too few points for valid geofence.
TooManyPoints	Too many points for valid geofence.
InvalidCircleRadius

Definition at line 30 of file RallyPointManager.h.

Constructor & Destructor Documentation

◆ RallyPointManager()

RallyPointManager::RallyPointManager ( Vehicle * vehicle )

Definition at line 7 of file RallyPointManager.cc.

References PlanManager::error(), error(), PlanManager::inProgressChanged(), inProgressChanged(), PlanManager::newMissionItemsAvailable(), PlanManager::removeAllComplete(), removeAllComplete(), and PlanManager::sendComplete().

◆ ~RallyPointManager()

RallyPointManager::~RallyPointManager ( )

Definition at line 18 of file RallyPointManager.cc.

Member Function Documentation

◆ _sendError()

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

protected

Definition at line 23 of file RallyPointManager.cc.

References error.

◆ editorQml()

QString RallyPointManager::editorQml ( void ) const

inline

Definition at line 26 of file RallyPointManager.h.

Referenced by RallyPointController::editorQml().

◆ error

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

signal

Referenced by RallyPointManager().

◆ inProgressChanged

void RallyPointManager::inProgressChanged ( bool inProgress )

signal

Referenced by RallyPointManager().

◆ loadComplete

void RallyPointManager::loadComplete ( void )

signal

◆ points()

QList< QGeoCoordinate > RallyPointManager::points ( void ) const

inline

Definition at line 27 of file RallyPointManager.h.

◆ removeAll()

void RallyPointManager::removeAll ( void )

Definition at line 57 of file RallyPointManager.cc.

References _rgPoints, and PlanManager::removeAll().

Referenced by RallyPointController::removeAllFromVehicle().

◆ removeAllComplete

void RallyPointManager::removeAllComplete ( bool error )

signal

Referenced by RallyPointManager().

◆ sendComplete

void RallyPointManager::sendComplete ( bool error )

signal

◆ sendToVehicle()

void RallyPointManager::sendToVehicle ( const QList< QGeoCoordinate > & rgPoints )

Definition at line 30 of file RallyPointManager.cc.

References _rgSendPoints, and PlanManager::writeMissionItems().

Referenced by RallyPointController::sendToVehicle().

◆ supported()

bool RallyPointManager::supported ( void ) const

Definition at line 63 of file RallyPointManager.cc.

References PlanManager::_vehicle, and Vehicle::capabilityBits().

Member Data Documentation

◆ _rgPoints

QList<QGeoCoordinate> RallyPointManager::_rgPoints

protected

Definition at line 51 of file RallyPointManager.h.

Referenced by removeAll().

◆ _rgSendPoints

QList<QGeoCoordinate> RallyPointManager::_rgSendPoints

protected

Definition at line 52 of file RallyPointManager.h.

Referenced by sendToVehicle().

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

src/MissionManager/RallyPointManager.h
src/MissionManager/RallyPointManager.cc

Public Types

Signals

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ErrorCode_t

Constructor & Destructor Documentation

◆ RallyPointManager()

◆ ~RallyPointManager()

Member Function Documentation

◆ _sendError()

◆ editorQml()

◆ error

◆ inProgressChanged

◆ loadComplete

◆ points()

◆ removeAll()

◆ removeAllComplete

◆ sendComplete

◆ sendToVehicle()

◆ supported()

Member Data Documentation

◆ _rgPoints

◆ _rgSendPoints