plugins: added skeleton for mission_raw plugin

This will be a plugin which enables direct/raw access to MAVLink
MISSION_ITEM_INT messages.

plugins/CMakeLists.txt

@@ -18,6 +18,7 @@ add_subdirectory(info)
 add_subdirectory(log_files)
 #add_subdirectory(logging) # Not implemented completely
 add_subdirectory(mission)
+add_subdirectory(mission_raw)
 add_subdirectory(offboard)
 add_subdirectory(params_raw)
 add_subdirectory(telemetry)

plugins/mission/mission.cpp

@@ -65,18 +65,20 @@ const char *Mission::result_str(Result result)
     switch (result) {
         case Result::SUCCESS:
             return "Success";
-        case Result::BUSY:
-            return "Busy";
         case Result::ERROR:
             return "Error";
         case Result::TOO_MANY_MISSION_ITEMS:
             return "Too many mission items";
-        case Result::INVALID_ARGUMENT:
-            return "Invalid argument";
+        case Result::BUSY:
+            return "Busy";
         case Result::TIMEOUT:
             return "Timeout";
+        case Result::INVALID_ARGUMENT:
+            return "Invalid argument";
         case Result::UNSUPPORTED:
             return "Mission downloaded from system is unsupported";
+        case Result::NO_MISSION_AVAILABLE:
+            return "No mission available";
         case Result::FAILED_TO_OPEN_QGC_PLAN:
             return "Failed to open QGC plan";
         case Result::FAILED_TO_PARSE_QGC_PLAN:

plugins/mission_raw/CMakeLists.txt

@@ -0,0 +1,33 @@
+add_library(dronecode_sdk_mission_raw ${PLUGIN_LIBRARY_TYPE}
+    mission_raw.cpp
+    mission_raw_impl.cpp
+)
+
+include_directories(
+    ${PROJECT_SOURCE_DIR}/core
+)
+
+set_target_properties(dronecode_sdk_mission_raw
+    PROPERTIES COMPILE_FLAGS ${warnings}
+)
+
+target_link_libraries(dronecode_sdk_mission_raw
+    dronecode_sdk
+)
+
+install(FILES
+    include/plugins/mission_raw/mission_raw.h
+    DESTINATION ${dronecode_sdk_install_include_dir}
+)
+
+install(TARGETS dronecode_sdk_mission_raw
+    #EXPORT dronecode_sdk-targets
+    DESTINATION ${dronecode_sdk_install_lib_dir}
+)
+
+target_include_directories(dronecode_sdk_mission_raw
+PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)

plugins/mission_raw/include/plugins/mission_raw/mission_raw.h

@@ -0,0 +1,133 @@
+#pragma once
+
+#include <vector>
+#include <memory>
+#include <functional>
+#include "plugin_base.h"
+
+namespace dronecode_sdk {
+
+class MissionRawImpl;
+class System;
+
+/**
+ * @brief The MissionRaw class enables direct direct access to MAVLink
+ *        mission items.
+ */
+class MissionRaw : public PluginBase {
+public:
+    /**
+     * @brief Constructor. Creates the plugin for a specific System.
+     *
+     * The plugin is typically created as shown below:
+     *
+     *     ```cpp
+     *     auto mission_raw = std::make_shared<MissionRaw>(system);
+     *     ```
+     *
+     * @param system The specific system associated with this plugin.
+     */
+    explicit MissionRaw(System &system);
+
+    /**
+     * @brief Destructor (internal use only).
+     */
+    ~MissionRaw();
+
+    /**
+     * @brief Possible results returned for mission requests.
+     */
+    enum class Result {
+        UNKNOWN, /**< @brief Unknown error. */
+        SUCCESS, /**< @brief %Request succeeded. */
+        ERROR, /**< @brief Error. */
+        BUSY, /**< @brief %Vehicle busy. */
+        TIMEOUT, /**< @brief Request timed out. */
+        INVALID_ARGUMENT, /**< @brief Invalid argument. */
+        NO_MISSION_AVAILABLE, /**< @brief No mission available on system. */
+        CANCELLED /**< @brief Mission upload or download has been cancelled. */
+    };
+
+    /**
+     * @brief Gets a human-readable English string for an MissionRaw::Result.
+     *
+     * @param result Enum for which string is required.
+     * @return Human readable string for the MissionRaw::Result.
+     */
+    static const char *result_str(Result result);
+
+    /**
+     * @brief Mission item identical to MAVLink MISSION_ITEM_INT.
+     */
+    struct MavlinkMissionItemInt {
+        uint8_t target_system; /**< @brief System ID. */
+        uint8_t target_component; /**< @brief Component ID. */
+        uint16_t seq; /**< @brief Sequence. */
+        uint8_t frame; /**< @brief The coordinate system of the waypoint. */
+        uint16_t command; /**< @brief The scheduled action for the waypoint. */
+        uint8_t current; /**< @brief false:0, true:1. */
+        uint8_t autocontinue; /**< @brief Autocontinue to next waypoint. */
+        float param1; /**< @brief PARAM1, see MAV_CMD enum. */
+        float param2; /**< @brief PARAM2, see MAV_CMD enum. */
+        float param3; /**< @brief PARAM3, see MAV_CMD enum. */
+        float param4; /**< @brief PARAM4, see MAV_CMD enum. */
+        int32_t x; /**< @brief PARAM5 / local: x position in meters * 1e4, global: latitude in
+                      degrees * 10^7. */
+        int32_t y; /**< @brief PARAM6 / y position: local: x position in meters * 1e4, global:
+                      longitude in degrees *10^7. */
+        float z; /**< @brief PARAM7 / local: Z coordinate, global: altitude (relative or absolute,
+                    depending on frame). */
+        uint8_t mission_type; /**< @brief Mission type. */
+    };
+
+    /**
+     * @brief Type for vector of mission items.
+     */
+    typedef std::function<void(Result, std::vector<std::shared_ptr<MavlinkMissionItemInt>>)>
+        mission_items_and_result_callback_t;
+
+    /**
+     * @brief Downloads a vector of mission items from the system (asynchronous).
+     *
+     * The method will fail if any of the downloaded mission items are not supported
+     * by the Dronecode SDK API.
+     *
+     * @param callback Callback to receive mission items and result of this request.
+     */
+    void download_mission_async(mission_items_and_result_callback_t callback);
+
+    /**
+     * @brief Cancel a mission download (asynchronous).
+     *
+     * This cancels an ongoing mission download. The mission download will fail
+     * with the result `Result::CANCELLED`.
+     */
+    void download_mission_cancel();
+
+    /**
+     * @brief Callback type to signal if the mission has changed.
+     */
+    typedef std::function<void()> mission_changed_callback_t;
+
+    /**
+     * @brief Subscribes to mission progress (asynchronous).
+     *
+     * @param callback Callback to receive mission progress.
+     */
+    void subscribe_mission_changed(mission_changed_callback_t callback);
+
+    /**
+     * @brief Copy constructor (object is not copyable).
+     */
+    MissionRaw(const MissionRaw &) = delete;
+    /**
+     * @brief Equality operator (object is not copyable).
+     */
+    const MissionRaw &operator=(const MissionRaw &) = delete;
+
+private:
+    /** @private Underlying implementation, set at instantiation */
+    std::unique_ptr<MissionRawImpl> _impl;
+};
+
+} // namespace dronecode_sdk

plugins/mission_raw/mission_raw.cpp

@@ -0,0 +1,47 @@
+#include "plugins/mission_raw/mission_raw.h"
+#include "mission_raw_impl.h"
+#include <vector>
+
+namespace dronecode_sdk {
+
+MissionRaw::MissionRaw(System &system) : PluginBase(), _impl{new MissionRawImpl(system)} {}
+
+MissionRaw::~MissionRaw() {}
+
+void MissionRaw::download_mission_async(MissionRaw::mission_items_and_result_callback_t callback)
+{
+    _impl->download_mission_async(callback);
+}
+
+void MissionRaw::download_mission_cancel()
+{
+    _impl->download_mission_cancel();
+}
+
+const char *MissionRaw::result_str(Result result)
+{
+    switch (result) {
+        case Result::SUCCESS:
+            return "Success";
+        case Result::BUSY:
+            return "Busy";
+        case Result::ERROR:
+            return "Error";
+        case Result::INVALID_ARGUMENT:
+            return "Invalid argument";
+        case Result::TIMEOUT:
+            return "Timeout";
+        case Result::CANCELLED:
+            return "Cancelled";
+        case Result::UNKNOWN:
+        default:
+            return "Unknown";
+    }
+}
+
+void MissionRaw::subscribe_mission_changed(mission_changed_callback_t callback)
+{
+    _impl->subscribe_mission_changed(callback);
+}
+
+} // namespace dronecode_sdk

plugins/mission_raw/mission_raw_impl.cpp

@@ -0,0 +1,56 @@
+#include "mission_raw_impl.h"
+#include "system.h"
+#include "global_include.h"
+#include <fstream> // for `std::ifstream`
+#include <sstream> // for `std::stringstream`
+#include <cmath>
+
+namespace dronecode_sdk {
+
+using namespace std::placeholders; // for `_1`
+
+MissionRawImpl::MissionRawImpl(System &system) : PluginImplBase(system)
+{
+    _parent->register_plugin(this);
+}
+
+MissionRawImpl::~MissionRawImpl()
+{
+    _parent->unregister_plugin(this);
+}
+
+void MissionRawImpl::init()
+{
+    _parent->register_mavlink_message_handler(
+        MAVLINK_MSG_ID_MISSION_ACK,
+        std::bind(&MissionRawImpl::process_mission_ack, this, _1),
+        this);
+}
+
+void MissionRawImpl::deinit()
+{
+    _parent->unregister_all_mavlink_message_handlers(this);
+}
+
+void MissionRawImpl::enable() {}
+
+void MissionRawImpl::disable() {}
+
+void MissionRawImpl::process_mission_ack(const mavlink_message_t &message)
+{
+    mavlink_mission_ack_t mission_ack;
+    mavlink_msg_mission_ack_decode(&message, &mission_ack);
+    UNUSED(mission_ack);
+
+    // TODO: need to report that mission might have changed.
+}
+
+void MissionRawImpl::download_mission_async(
+    const MissionRaw::mission_items_and_result_callback_t &callback)
+{
+    UNUSED(callback);
+}
+
+void MissionRawImpl::download_mission_cancel() {}
+
+} // namespace dronecode_sdk

plugins/mission_raw/mission_raw_impl.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include "system.h"
+#include "mavlink_include.h"
+#include "plugins/mission_raw/mission_raw.h"
+#include "plugin_impl_base.h"
+
+namespace dronecode_sdk {
+
+class MissionRawImpl : public PluginImplBase {
+public:
+    MissionRawImpl(System &system);
+    ~MissionRawImpl();
+
+    void init() override;
+    void deinit() override;
+
+    void enable() override;
+    void disable() override;
+
+    void download_mission_async(const MissionRaw::mission_items_and_result_callback_t &callback);
+    void download_mission_cancel();
+
+    void subscribe_mission_changed(MissionRaw::mission_changed_callback_t callback);
+
+    MissionRawImpl(const MissionRawImpl &) = delete;
+    const MissionRawImpl &operator=(const MissionRawImpl &) = delete;
+
+private:
+    void process_mission_ack(const mavlink_message_t &message);
+};
+
+} // namespace dronecode_sdk