Struct MissionSender

Source

pub struct MissionSender<'a> { /* private fields */ }

Expand description

Holds a plan and answers a receiver’s requests for its items.

The sender borrows the items and stamps the target ids, the mission type, and the requested sequence number onto each one as it is handed out, so the caller supplies only the item content (command, frame, position, parameters).

Implementations§

Source §

impl MissionSender<'_>

Source

pub fn count_frame(&self, header: Header) -> Result<Frame>

Builds the frame that opens an upload.

§Arguments

header - the addressing fields to stamp on the frame.

§Returns

The MISSION_COUNT frame.

§Errors

Returns MavlinkError::PayloadTooLong if the message does not fit a frame, which a count never fails.

Source

pub fn on_frame( &self, frame: &Frame, header: Header, ) -> Result<Option<SenderStep>>

Handles an incoming frame, if it is one this transfer answers.

A MISSION_REQUEST_LIST is answered with the count, a MISSION_REQUEST_INT (or the older MISSION_REQUEST) with the item asked for, and a request past the end of the plan with a MISSION_ACK reporting an invalid sequence. A MISSION_ACK from the receiver ends the transfer. Any other message is reported as not handled.

§Arguments

frame - the frame off the link.
header - the addressing fields to stamp on the reply.

§Returns

The step taken, or None if the frame carries a message this transfer does not handle.

§Errors

Returns an error only if the reply does not fit a frame, which no mission message can cause; a short or long payload decodes the way the message layer defines.

§Examples

use pamoja_mavlink::dialect::{encode_message, Message, MissionItemInt, MissionRequestInt};
use pamoja_mavlink::protocol::{MissionSender, SenderStep};
use pamoja_mavlink::Header;

let waypoint = MissionItemInt { command: 16, x: -338_567_800, y: 1_512_153_000, z: 50.0, ..MissionItemInt::zeroed() };
let plan = [waypoint];
let upload = MissionSender::new(&plan, 1, 1, 0);

// The vehicle asks for item 0 and gets it back, stamped with its sequence number.
let request = MissionRequestInt { seq: 0, target_system: 255, target_component: 190, mission_type: 0 };
let step = upload
    .on_frame(&encode_message(Header::new(1, 1, 0), &request)?, Header::new(255, 190, 0))?
    .expect("a request is handled");
let SenderStep::Reply(reply) = step else { panic!("an item is sent") };
assert_eq!(MissionItemInt::decode(reply.payload())?.seq, 0);