Constantin LeueandClaude Sonnet 5
13475cc4f3
Fills in MspFlightControllerLink.uploadMission(), which previously just threw UnimplementedError, plus a new verifyMission() (both now on the generic FlightControllerLink interface, protocol-neutral by signature - MAVLink/ArduPilot get their own implementation later without touching callers). All iNAV-specific encoding lives in the new msp_waypoint_codec.dart: - encodeMspSetWaypoint(): the 21-byte MSP_SET_WP payload. Action/P1/P2/P3 byte layout was checked against the actual iNAV 9.1.0 source (navigation.c/navigation.h), not guessed - notably our generic `loiter` action has no configurable duration, so it maps to NAV_WP_ACTION_HOLD_TIME with the max representable p1 (int16 max, not 0xFFFF - that would read as -1 and end the hold immediately instead of never). - parseMspWpGetInfo(): decodes MSP_WP_GETINFO's validity/count fields, used by verifyMission() to confirm the FC actually accepted the full mission (Doku 2.2/4.5 Ready-to-Fly-Gate: "upload + verified"). uploadMission() sends one MSP_SET_WP per waypoint in order (iNAV has no batch command - WP#1 resets the FC's mission list, every next number must follow immediately, only the last carries NAV_WP_FLAG_LAST) and rejects missions above NAV_MAX_WAYPOINTS upfront instead of silently truncating. MissionSyncService now calls the real verifyMission() instead of always confirming, throwing MissionVerificationException when the FC doesn't confirm the mission. FlyScreen's footer swaps the warnings button for a send button (Doku: "ersetze den warnings button mit einem wp send button", pink horizontal PaperPlaneIcon, matching the existing paper-plane drone iconography) - warnings/event log stay reachable via the drone status pill's Warnings tab. BottomStatsBar/MissionFooterBar gained onSendTap/sending in place of the old forceShowWarningsButton. Verified end to end on the Pixel_10a emulator: tapping send with WLAN as the active connection type triggers the real WifiNetworkSpecifier flow through MspFlightControllerLink (correctly reports "no devices found" - expected, no real mLRS bridge on the emulator); the actual MSP_SET_WP/ MSP_WP_GETINFO wire behavior is covered by tests against a fake FC responder over LoopbackTransport instead. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
45 lines
1.7 KiB
Dart
45 lines
1.7 KiB
Dart
import '../app_mode/app_mode_cubit.dart';
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import '../domain/waypoint/flat_waypoint_list.dart';
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import '../transport/flight_controller_link.dart';
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/// Geworfen von [MissionSyncService.syncAndUpload], wenn
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/// [FlightControllerLink.verifyMission] nach einem Upload false liefert.
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class MissionVerificationException implements Exception {
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const MissionVerificationException(this.message);
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final String message;
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@override
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String toString() => 'MissionVerificationException: $message';
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}
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/// Orchestriert Connect -> Verify -> Upload -> Ready-to-Fly und erzwingt das
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/// Ready-to-Fly-Gate (Architektur-Doku 3.3 / 4.5).
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class MissionSyncService {
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MissionSyncService(this._link, this._appMode);
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final FlightControllerLink _link;
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final AppModeCubit _appMode;
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/// Wirft [MissionVerificationException], wenn der Flightcontroller die
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/// Mission nach dem Upload nicht als vollstaendig/gueltig bestaetigt
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/// (Doku 2.2/4.5) - der Aufrufer zeigt das dem Nutzer an, das
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/// Ready-to-Fly-Gate bleibt in diesem Fall zurecht geschlossen
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/// (missionVerified bleibt false).
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Future<void> syncAndUpload(FlatWaypointList mission) async {
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await _link.connect();
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// uploadMission() der jeweiligen FlightControllerLink-Implementierung
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// verweigert den Upload selbst, falls die Drohne armed ist (Doku 4.5) -
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// dieser Service verlaesst sich bewusst nicht zusaetzlich auf einen
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// eigenen Telemetrie-Vorab-Check, um keine zwei Wahrheitsquellen zu haben.
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await _link.uploadMission(mission);
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_appMode.missionUploadConfirmed();
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if (!await _link.verifyMission(mission)) {
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throw const MissionVerificationException(
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'Flightcontroller did not confirm the uploaded mission',
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);
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}
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_appMode.missionVerifiedConfirmed();
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}
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}
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