Generate from proto

mavlink · Aug 15, 2023 · b41a05b · b41a05b
1 parent 9b1778c
commit b41a05b
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Showing 8 changed files with 302 additions and 62 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
@@ -124,7 +124,9 @@ class MissionRaw : public PluginBase {
         std::vector<MissionItem> mission_items{}; /**< @brief Mission items */
         std::vector<MissionItem> geofence_items{}; /**< @brief Geofence items */
         std::vector<MissionItem> rally_items{}; /**< @brief Rally items */
-        std::optional<MissionItem> plannedHomePosition;
+        bool has_planned_home_position{}; /**< @brief Whether it contains a planned home position
+                                             element or not */
+        MissionItem planned_home_position{}; /**< @brief Planned home position */
     };
 
     /**

diff --git a/src/mavsdk/plugins/mission_raw/mission_import.cpp b/src/mavsdk/plugins/mission_raw/mission_import.cpp
@@ -30,7 +30,7 @@ MissionImport::parse_json(const std::string& raw_json, Sender::Autopilot autopil
 
     MissionRaw::MissionImportData import_data;
     import_data.mission_items = maybe_mission_items.first.value();
-    import_data.plannedHomePosition = maybe_mission_items.second.value();
+    import_data.planned_home_position = maybe_mission_items.second.value();
 
     return {MissionRaw::Result::Success, import_data};
 }
@@ -48,7 +48,9 @@ bool MissionImport::check_overall_version(const Json::Value& root)
     return true;
 }
 
-std::pair<std::optional<std::vector<MissionRaw::MissionItem>>, std::optional<MissionRaw::MissionItem>>
+std::pair<
+    std::optional<std::vector<MissionRaw::MissionItem>>,
+    std::optional<MissionRaw::MissionItem>>
 MissionImport::import_mission(const Json::Value& root, Sender::Autopilot autopilot)
 {
     // We need a mission part.
@@ -134,9 +136,7 @@ MissionImport::import_mission(const Json::Value& root, Sender::Autopilot autopil
 
     // Add home position at 0 for ArduPilot
     if (autopilot == Sender::Autopilot::ArduPilot && home_item.has_value()) {
-            mission_items.insert(
-                mission_items.begin(),
-            home_item.value());
+        mission_items.insert(mission_items.begin(), home_item.value());
     }
 
     // Returning an empty vector is ok here if there were really no mission items.

diff --git a/src/mavsdk/plugins/mission_raw/mission_import.h b/src/mavsdk/plugins/mission_raw/mission_import.h
@@ -16,7 +16,9 @@ class MissionImport {
 
 private:
     static bool check_overall_version(const Json::Value& root);
-    static std::pair<std::optional<std::vector<MissionRaw::MissionItem>>, std::optional<MissionRaw::MissionItem>>
+    static std::pair<
+        std::optional<std::vector<MissionRaw::MissionItem>>,
+        std::optional<MissionRaw::MissionItem>>
     import_mission(const Json::Value& root, SystemImpl::Autopilot autopilot);
     static std::optional<MissionRaw::MissionItem>
     import_simple_mission_item(const Json::Value& json_item);

diff --git a/src/mavsdk/plugins/mission_raw/mission_raw.cpp b/src/mavsdk/plugins/mission_raw/mission_raw.cpp
@@ -170,7 +170,9 @@ std::ostream& operator<<(std::ostream& str, MissionRaw::MissionItem const& missi
 bool operator==(const MissionRaw::MissionImportData& lhs, const MissionRaw::MissionImportData& rhs)
 {
     return (rhs.mission_items == lhs.mission_items) && (rhs.geofence_items == lhs.geofence_items) &&
-           (rhs.rally_items == lhs.rally_items);
+           (rhs.rally_items == lhs.rally_items) &&
+           (rhs.has_planned_home_position == lhs.has_planned_home_position) &&
+           (rhs.planned_home_position == lhs.planned_home_position);
 }
 
 std::ostream&
@@ -199,6 +201,9 @@ operator<<(std::ostream& str, MissionRaw::MissionImportData const& mission_impor
         str << *it;
         str << (it + 1 != mission_import_data.rally_items.end() ? ", " : "]\n");
     }
+    str << "    has_planned_home_position: " << mission_import_data.has_planned_home_position
+        << '\n';
+    str << "    planned_home_position: " << mission_import_data.planned_home_position << '\n';
     str << '}';
     return str;
 }

diff --git a/src/mavsdk_server/src/generated/mission_raw/mission_raw.pb.cc b/src/mavsdk_server/src/generated/mission_raw/mission_raw.pb.cc
diff --git a/src/mavsdk_server/src/generated/mission_raw/mission_raw.pb.h b/src/mavsdk_server/src/generated/mission_raw/mission_raw.pb.h
diff --git a/src/mavsdk_server/src/plugins/mission_raw/mission_raw_service_impl.h b/src/mavsdk_server/src/plugins/mission_raw/mission_raw_service_impl.h
@@ -150,6 +150,11 @@ class MissionRawServiceImpl final : public rpc::mission_raw::MissionRawService::
             ptr->CopyFrom(*translateToRpcMissionItem(elem).release());
         }
 
+        rpc_obj->set_has_planned_home_position(mission_import_data.has_planned_home_position);
+
+        rpc_obj->set_allocated_planned_home_position(
+            translateToRpcMissionItem(mission_import_data.planned_home_position).release());
+
         return rpc_obj;
     }
 
@@ -173,6 +178,11 @@ class MissionRawServiceImpl final : public rpc::mission_raw::MissionRawService::
                 static_cast<mavsdk::rpc::mission_raw::MissionItem>(elem)));
         }
 
+        obj.has_planned_home_position = mission_import_data.has_planned_home_position();
+
+        obj.planned_home_position =
+            translateFromRpcMissionItem(mission_import_data.planned_home_position());
+
         return obj;
     }