mavlink_mission.h

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/**
 * @file mavlink_mission.h
 * Implementation of the MAVLink mission protocol.
 * Documentation:
 * - http://qgroundcontrol.org/mavlink/mission_interface
 * - http://qgroundcontrol.org/mavlink/waypoint_protocol
 *
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Julian Oes <julian@px4.io>
 * @author Anton Babushkin <anton@px4.io>
 */

#pragma once

#include <dataman/dataman.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/mission_result.h>

#include "mavlink_bridge_header.h"
#include "mavlink_rate_limiter.h"

enum MAVLINK_WPM_STATES {
    MAVLINK_WPM_STATE_IDLE = 0,
    MAVLINK_WPM_STATE_SENDLIST,
    MAVLINK_WPM_STATE_GETLIST,
    MAVLINK_WPM_STATE_ENUM_END
};

enum MAVLINK_WPM_CODES {
    MAVLINK_WPM_CODE_OK = 0,
    MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
    MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
    MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
    MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
    MAVLINK_WPM_CODE_ENUM_END
};

static constexpr uint64_t MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT = 5000000; ///< Protocol action timeout in us
static constexpr uint64_t MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT = 250000; ///< Protocol retry timeout in us

class Mavlink;

class MavlinkMissionManager
{
public:
    explicit MavlinkMissionManager(Mavlink *mavlink);

    ~MavlinkMissionManager() = default;

    /**
     * Handle sending of messages. Call this regularly at a fixed frequency.
     * @param t current time
     */
    void send(const hrt_abstime t);

    void handle_message(const mavlink_message_t *msg);

    void check_active_mission(void);

private:
    enum MAVLINK_WPM_STATES _state {MAVLINK_WPM_STATE_IDLE};    ///< Current state
    enum MAV_MISSION_TYPE _mission_type {MAV_MISSION_TYPE_MISSION}; ///< mission type of current transmission (only one at a time possible)

    uint64_t        _time_last_recv{0};
    uint64_t        _time_last_sent{0};

    uint8_t         _reached_sent_count{0};         ///< last time when the vehicle reached a waypoint

    bool            _int_mode{false};           ///< Use accurate int32 instead of float

    unsigned        _filesystem_errcount{0};        ///< File system error count

    static dm_item_t        _dataman_id;                ///< Global Dataman storage ID for active mission
    dm_item_t           _my_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_0};            ///< class Dataman storage ID

    static bool     _dataman_init;              ///< Dataman initialized

    static uint16_t     _count[3];              ///< Count of items in (active) mission for each MAV_MISSION_TYPE
    static int32_t      _current_seq;               ///< Current item sequence in active mission

    int32_t         _last_reached{-1};          ///< Last reached waypoint in active mission (-1 means nothing reached)

    dm_item_t           _transfer_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_1};      ///< Dataman storage ID for current transmission

    uint16_t        _transfer_count{0};         ///< Items count in current transmission
    uint16_t        _transfer_seq{0};           ///< Item sequence in current transmission

    int32_t         _transfer_current_seq{-1};      ///< Current item ID for current transmission (-1 means not initialized)

    uint8_t         _transfer_partner_sysid{0};     ///< Partner system ID for current transmission
    uint8_t         _transfer_partner_compid{0};        ///< Partner component ID for current transmission

    static bool     _transfer_in_progress;          ///< Global variable checking for current transmission

    uORB::Subscription  _mission_result_sub{ORB_ID(mission_result)};

    uORB::Publication<mission_s>    _offboard_mission_pub{ORB_ID(mission)};

    static uint16_t     _geofence_update_counter;
    static uint16_t     _safepoint_update_counter;
    bool            _geofence_locked{false};        ///< if true, we currently hold the dm_lock for the geofence (transaction in progress)

    MavlinkRateLimiter  _slow_rate_limiter{100 * 1000};     ///< Rate limit sending of the current WP sequence to 10 Hz

    Mavlink *_mavlink;

    static constexpr unsigned int   FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT =
        2;  ///< Error count limit before stopping to report FS errors
    static constexpr uint16_t   MAX_COUNT[] = {
        DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
        DM_KEY_FENCE_POINTS_MAX - 1,
        DM_KEY_SAFE_POINTS_MAX - 1
    };  /**< Maximum number of mission items for each type
                    (fence & safe points use the first item for the stats) */

    /** get the maximum number of item count for the current _mission_type */
    uint16_t current_max_item_count();

    /** get the number of item count for the current _mission_type */
    uint16_t current_item_count();

    /* do not allow top copying this class */
    MavlinkMissionManager(MavlinkMissionManager &);
    MavlinkMissionManager &operator = (const MavlinkMissionManager &);

    void init_offboard_mission();

    int update_active_mission(dm_item_t dataman_id, uint16_t count, int32_t seq);

    /** store the geofence count to dataman */
    int update_geofence_count(unsigned count);

    /** store the safepoint count to dataman */
    int update_safepoint_count(unsigned count);

    /** load geofence stats from dataman */
    int load_geofence_stats();

    /** load safe point stats from dataman */
    int load_safepoint_stats();

    /**
     *  @brief Sends an waypoint ack message
     */
    void send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type);

    /**
     *  @brief Broadcasts the new target waypoint and directs the MAV to fly there
     *
     *  This function broadcasts its new active waypoint sequence number and
     *  sends a message to the controller, advising it to fly to the coordinates
     *  of the waypoint with a given orientation
     *
     *  @param seq The waypoint sequence number the MAV should fly to.
     */
    void send_mission_current(uint16_t seq);

    void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type);

    void send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq);

    void send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq);

    /**
     *  @brief emits a message that a waypoint reached
     *
     *  This function broadcasts a message that a waypoint is reached.
     *
     *  @param seq The waypoint sequence number the MAV has reached.
     */
    void send_mission_item_reached(uint16_t seq);

    void handle_mission_ack(const mavlink_message_t *msg);

    void handle_mission_set_current(const mavlink_message_t *msg);

    void handle_mission_request_list(const mavlink_message_t *msg);

    void handle_mission_request(const mavlink_message_t *msg);
    void handle_mission_request_int(const mavlink_message_t *msg);
    void handle_mission_request_both(const mavlink_message_t *msg);

    void handle_mission_count(const mavlink_message_t *msg);

    void handle_mission_item(const mavlink_message_t *msg);
    void handle_mission_item_int(const mavlink_message_t *msg);
    void handle_mission_item_both(const mavlink_message_t *msg);

    void handle_mission_clear_all(const mavlink_message_t *msg);

    /**
     * Parse mavlink MISSION_ITEM message to get mission_item_s.
     *
     * @param mavlink_mission_item pointer to mavlink_mission_item_t or mavlink_mission_item_int_t
     *                 depending on _int_mode
     * @param mission_item         pointer to mission_item to construct
     */
    int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);

    /**
     * Format mission_item_s as mavlink MISSION_ITEM(_INT) message.
     *
     * @param mission_item:     pointer to the existing mission item
     * @param mavlink_mission_item: pointer to mavlink_mission_item_t or mavlink_mission_item_int_t
     *              depending on _int_mode.
     */
    int format_mavlink_mission_item(const struct mission_item_s *mission_item,
                    mavlink_mission_item_t *mavlink_mission_item);

    /**
     * set _state to idle (and do necessary cleanup)
     */
    void switch_to_idle_state();
};