mavlink_mission.h

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#pragma once

#include <dataman/dataman.h>
#include <uORB/uORB.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; 
static constexpr uint64_t MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT = 250000; 

class Mavlink;

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

    ~MavlinkMissionManager();

    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};    
    enum MAV_MISSION_TYPE _mission_type {MAV_MISSION_TYPE_MISSION}; 

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

    uint8_t         _reached_sent_count{0};         

    bool            _int_mode{false};           

    unsigned        _filesystem_errcount{0};        

    static dm_item_t        _dataman_id;                
    dm_item_t           _my_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_0};            

    static bool     _dataman_init;              

    static uint16_t     _count[3];              
    static int32_t      _current_seq;               

    int32_t         _last_reached{-1};          

    dm_item_t           _transfer_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_1};      

    uint16_t        _transfer_count{0};         
    uint16_t        _transfer_seq{0};           

    int32_t         _transfer_current_seq{-1};      

    uint8_t         _transfer_partner_sysid{0};     
    uint8_t         _transfer_partner_compid{0};        

    static bool     _transfer_in_progress;          

    int         _offboard_mission_sub{-1};
    int         _mission_result_sub{-1};

    orb_advert_t        _offboard_mission_pub{nullptr};

    static uint16_t     _geofence_update_counter;
    static uint16_t     _safepoint_update_counter;
    bool            _geofence_locked{false};        

    MavlinkRateLimiter  _slow_rate_limiter{100 * 1000};     

    Mavlink *_mavlink;

    static constexpr unsigned int   FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT =
        2;  
    static constexpr uint16_t   MAX_COUNT[] = {
        DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
        DM_KEY_FENCE_POINTS_MAX - 1,
        DM_KEY_SAFE_POINTS_MAX - 1
    };  
    uint16_t current_max_item_count();

    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);

    int update_geofence_count(unsigned count);

    int update_safepoint_count(unsigned count);

    int load_geofence_stats();

    int load_safepoint_stats();

    void send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type);

    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);

    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);

    int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);

    int format_mavlink_mission_item(const struct mission_item_s *mission_item,
                    mavlink_mission_item_t *mavlink_mission_item);

    void switch_to_idle_state();
};