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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Filesystem/AP_Filesystem_Mission.h
Views: 1798
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/*

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   This program is free software: you can redistribute it and/or modify

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   it under the terms of the GNU General Public License as published by

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   the Free Software Foundation, either version 3 of the License, or

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   (at your option) any later version.

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   This program is distributed in the hope that it will be useful,

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   but WITHOUT ANY WARRANTY; without even the implied warranty of

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   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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   GNU General Public License for more details.

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   You should have received a copy of the GNU General Public License

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   along with this program.  If not, see <http://www.gnu.org/licenses/>.

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 */

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#pragma once

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#include "AP_Filesystem_config.h"

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#if AP_FILESYSTEM_MISSION_ENABLED

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#include "AP_Filesystem_backend.h"

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#include <GCS_MAVLink/GCS_MAVLink.h>

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#include <AP_Common/ExpandingString.h>

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class AP_Filesystem_Mission : public AP_Filesystem_Backend

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{

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public:

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    // functions that closely match the equivalent posix calls

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    int open(const char *fname, int flags, bool allow_absolute_paths = false) override;

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    int close(int fd) override;

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    int32_t read(int fd, void *buf, uint32_t count) override;

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    int32_t lseek(int fd, int32_t offset, int whence) override;

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    int32_t write(int fd, const void *buf, uint32_t count) override;

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    int stat(const char *pathname, struct stat *stbuf) override;

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private:

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    // only allow up to 4 files at a time

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    static constexpr uint8_t max_open_file = 4;

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    static constexpr uint16_t mission_magic = 0x763d;

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    enum class Options {

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        NO_CLEAR = (1U<<0), // don't clear the old mission

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    };

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    // header at front of the file

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    struct header {

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        uint16_t magic = mission_magic;

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        uint16_t data_type; // MAV_MISSION_TYPE_*

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        uint16_t options; // optional features

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        uint16_t start; // first WP num, 0 for full upload

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        uint16_t num_items;

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    };

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    struct rfile {

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        bool open;

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        ExpandingString *writebuf;

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        uint32_t file_ofs;

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        uint32_t num_items;

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        enum MAV_MISSION_TYPE mtype;

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        uint32_t last_op_ms;

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    } file[max_open_file];

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    bool check_file_name(const char *fname, enum MAV_MISSION_TYPE &mtype);

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    // get one item

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    bool get_item(uint32_t idx, enum MAV_MISSION_TYPE mtype, mavlink_mission_item_int_t &item) const;

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    // get number of items

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    uint32_t get_num_items(enum MAV_MISSION_TYPE mtype) const;

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    // finish loading items

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    bool finish_upload(const rfile &r);

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    bool finish_upload_mission(const struct header &hdr, const rfile &r, const uint8_t *b);

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    bool finish_upload_fence(const struct header &hdr, const rfile &r, const uint8_t *b);

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    bool finish_upload_rally(const struct header &hdr, const rfile &r, const uint8_t *b);

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    // see if a block of memory is all zero

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    bool all_zero(const uint8_t *b, uint8_t size) const;

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};

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#endif  // AP_FILESYSTEM_MISSION_ENABLED

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