added functionality to download geofences and rallypoints (#2404)

* added functionality to download geofences and rallypoints * added missing protobuffer code * Update merged proto and fixed style --------- Co-authored-by: Julian Oes <[email protected]>
mavlink · Sep 30, 2024 · 0b564f0 · 0b564f0
1 parent d2ce771
commit 0b564f0
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Showing 10 changed files with 2,706 additions and 433 deletions.
diff --git a/proto b/proto
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
@@ -269,6 +269,48 @@ class MissionRaw : public PluginBase {
      */
     std::pair<Result, std::vector<MissionRaw::MissionItem>> download_mission() const;
 
+    /**
+     * @brief Callback type for download_geofence_async.
+     */
+    using DownloadGeofenceCallback = std::function<void(Result, std::vector<MissionItem>)>;
+
+    /**
+     * @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 DownloadGeofenceCallback callback);
+
+    /**
+     * @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 Callback type for download_rallypoints_async.
+     */
+    using DownloadRallypointsCallback = std::function<void(Result, std::vector<MissionItem>)>;
+
+    /**
+     * @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 DownloadRallypointsCallback callback);
+
+    /**
+     * @brief Download a list of raw rallypoint items from the system (asynchronous).
+     *
+     * This function is blocking. See 'download_rallypoints_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.
      *

diff --git a/src/mavsdk/plugins/mission_raw/mission_raw.cpp b/src/mavsdk/plugins/mission_raw/mission_raw.cpp
@@ -74,6 +74,28 @@ MissionRaw::download_mission() const
     return _impl->download_mission();
 }
 
+void MissionRaw::download_geofence_async(const DownloadGeofenceCallback callback)
+{
+    _impl->download_geofence_async(callback);
+}
+
+std::pair<MissionRaw::Result, std::vector<MissionRaw::MissionItem>>
+MissionRaw::download_geofence() const
+{
+    return _impl->download_geofence();
+}
+
+void MissionRaw::download_rallypoints_async(const DownloadRallypointsCallback callback)
+{
+    _impl->download_rallypoints_async(callback);
+}
+
+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();

diff --git a/src/mavsdk/plugins/mission_raw/mission_raw_impl.cpp b/src/mavsdk/plugins/mission_raw/mission_raw_impl.cpp
@@ -242,6 +242,32 @@ 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 +295,61 @@ void MissionRawImpl::download_mission_async(const MissionRaw::DownloadMissionCal
         });
 }
 
+void MissionRawImpl::download_geofence_async(const MissionRaw::DownloadGeofenceCallback& 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::DownloadRallypointsCallback& 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);