added functionality to download geofences and rallypoints

mavlink · Sep 25, 2024 · 9db1641 · 9db1641
1 parent ae43792
commit 9db1641
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Showing 4 changed files with 136 additions and 2 deletions.
diff --git a/src/mavsdk/plugins/mission_raw/include/plugins/mission_raw/mission_raw.h b/src/mavsdk/plugins/mission_raw/include/plugins/mission_raw/mission_raw.h
@@ -260,6 +260,20 @@ class MissionRaw : public PluginBase {
      */
     void download_mission_async(const DownloadMissionCallback callback);
 
+    /**
+     * @brief Download a list of raw geofence items from the system (asynchronous).
+     *
+     * This function is non-blocking. See 'download_geofence' for the blocking counterpart.
+     */
+    void download_geofence_async(const DownloadMissionCallback callback);
+
+    /**
+     * @brief Download a list of raw rallypoint items from the system (asynchronous).
+     *
+     * This function is non-blocking. See 'download_rallypoints' for the blocking counterpart.
+     */
+    void download_rallypoints_async(const DownloadMissionCallback callback);
+
     /**
      * @brief Download a list of raw mission items from the system (asynchronous).
      *
@@ -269,6 +283,24 @@ class MissionRaw : public PluginBase {
      */
     std::pair<Result, std::vector<MissionRaw::MissionItem>> download_mission() const;
 
+    /**
+     * @brief Download a list of raw geofence items from the system (asynchronous).
+     *
+     * This function is blocking. See 'download_geofence_async' for the non-blocking counterpart.
+     *
+     * @return Result of request.
+     */
+    std::pair<Result, std::vector<MissionRaw::MissionItem>> download_geofence() const;
+
+    /**
+     * @brief Download a list of raw rallypoint items from the system (asynchronous).
+     *
+     * This function is blocking. See 'download_rallypoint_async' for the non-blocking counterpart.
+     *
+     * @return Result of request.
+     */
+    std::pair<Result, std::vector<MissionRaw::MissionItem>> download_rallypoints() const;
+
     /**
      * @brief Cancel an ongoing mission download.
      *
@@ -463,4 +495,4 @@ class MissionRaw : public PluginBase {
     std::unique_ptr<MissionRawImpl> _impl;
 };
 
-} // namespace mavsdk
+} // namespace mavsdk
diff --git a/src/mavsdk/plugins/mission_raw/mission_raw.cpp b/src/mavsdk/plugins/mission_raw/mission_raw.cpp
@@ -68,12 +68,32 @@ void MissionRaw::download_mission_async(const DownloadMissionCallback callback)
     _impl->download_mission_async(callback);
 }
 
+void MissionRaw::download_geofence_async(const DownloadMissionCallback callback)
+{
+    _impl->download_geofence_async(callback);
+}
+
+void MissionRaw::download_rallypoints_async(const DownloadMissionCallback callback)
+{
+    _impl->download_rallypoints_async(callback);
+}
+
 std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem>>
 MissionRaw::download_mission() const
 {
     return _impl->download_mission();
 }
 
+std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem> > MissionRaw::download_geofence() const
+{
+    return _impl->download_geofence();
+}
+
+std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem> > MissionRaw::download_rallypoints() const
+{
+    return _impl->download_rallypoints();
+}
+
 MissionRaw::Result MissionRaw::cancel_mission_download() const
 {
     return _impl->cancel_mission_download();
@@ -289,4 +309,4 @@ std::ostream& operator<<(std::ostream& str, MissionRaw::Result const& result)
     }
 }
 
-} // namespace mavsdk
+} // namespace mavsdk
diff --git a/src/mavsdk/plugins/mission_raw/mission_raw_impl.cpp b/src/mavsdk/plugins/mission_raw/mission_raw_impl.cpp
@@ -242,6 +242,30 @@ MissionRawImpl::download_mission()
     return fut.get();
 }
 
+std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem> > MissionRawImpl::download_geofence()
+{
+    auto prom = std::promise<std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem>>>();
+    auto fut = prom.get_future();
+
+    download_geofence_async(
+        [&prom](MissionRaw::Result result, std::vector<MissionRaw::MissionItem> geofence) {
+            prom.set_value(std::make_pair<>(result, geofence));
+        });
+    return fut.get();
+}
+
+std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem> > MissionRawImpl::download_rallypoints()
+{
+    auto prom = std::promise<std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem>>>();
+    auto fut = prom.get_future();
+
+    download_rallypoints_async(
+        [&prom](MissionRaw::Result result, std::vector<MissionRaw::MissionItem> rallypoints) {
+            prom.set_value(std::make_pair<>(result, rallypoints));
+        });
+    return fut.get();
+}
+
 void MissionRawImpl::download_mission_async(const MissionRaw::DownloadMissionCallback& callback)
 {
     auto work_item = _last_download.lock();
@@ -269,6 +293,60 @@ void MissionRawImpl::download_mission_async(const MissionRaw::DownloadMissionCal
         });
 }
 
+void MissionRawImpl::download_geofence_async(const MissionRaw::DownloadMissionCallback &callback)
+{
+    auto work_item = _last_download.lock();
+    if (work_item && !work_item->is_done()) {
+        _system_impl->call_user_callback([callback]() {
+            if (callback) {
+                std::vector<MissionRaw::MissionItem> empty_items;
+                callback(MissionRaw::Result::Busy, empty_items);
+            }
+        });
+        return;
+    }
+
+    _last_download = _system_impl->mission_transfer_client().download_items_async(
+        MAV_MISSION_TYPE_FENCE,
+        _system_impl->get_system_id(),
+        [this, callback](
+            MavlinkMissionTransferClient::Result result,
+            std::vector<MavlinkMissionTransferClient::ItemInt> items) {
+            auto converted_result = convert_result(result);
+            auto converted_items = convert_items(items);
+            _system_impl->call_user_callback([callback, converted_result, converted_items]() {
+                callback(converted_result, converted_items);
+            });
+        });
+}
+
+void MissionRawImpl::download_rallypoints_async(const MissionRaw::DownloadMissionCallback &callback)
+{
+    auto work_item = _last_download.lock();
+    if (work_item && !work_item->is_done()) {
+        _system_impl->call_user_callback([callback]() {
+            if (callback) {
+                std::vector<MissionRaw::MissionItem> empty_items;
+                callback(MissionRaw::Result::Busy, empty_items);
+            }
+        });
+        return;
+    }
+
+    _last_download = _system_impl->mission_transfer_client().download_items_async(
+        MAV_MISSION_TYPE_RALLY,
+        _system_impl->get_system_id(),
+        [this, callback](
+            MavlinkMissionTransferClient::Result result,
+            std::vector<MavlinkMissionTransferClient::ItemInt> items) {
+            auto converted_result = convert_result(result);
+            auto converted_items = convert_items(items);
+            _system_impl->call_user_callback([callback, converted_result, converted_items]() {
+                callback(converted_result, converted_items);
+            });
+        });
+}
+
 MissionRaw::Result MissionRawImpl::cancel_mission_download()
 {
     auto ptr = _last_download.lock();

diff --git a/src/mavsdk/plugins/mission_raw/mission_raw_impl.h b/src/mavsdk/plugins/mission_raw/mission_raw_impl.h
@@ -23,7 +23,11 @@ class MissionRawImpl : public PluginImplBase {
     void disable() override;
 
     std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem>> download_mission();
+    std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem>> download_geofence();
+    std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem>> download_rallypoints();
     void download_mission_async(const MissionRaw::DownloadMissionCallback& callback);
+    void download_geofence_async(const MissionRaw::DownloadMissionCallback& callback);
+    void download_rallypoints_async(const MissionRaw::DownloadMissionCallback& callback);
     MissionRaw::Result cancel_mission_download();
 
     MissionRaw::Result upload_mission(std::vector<MissionRaw::MissionItem> mission_items);