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mavlink: move OPTICAL_FLOW to streams hpp

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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>
This commit is contained in:
Antonio Sanjurjo Cortés 2020-11-29 20:47:27 +01:00 committed by Daniel Agar
parent 5f0ecc893e
commit 0bf622e211
2 changed files with 116 additions and 75 deletions
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78
src/modules/mavlink/mavlink_messages.cpp
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@ -73,7 +73,6 @@
#include <uORB/topics/home_position.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_baro.h>
@ -119,6 +118,7 @@ using matrix::wrap_2pi;
#include "streams/HIL_STATE_QUATERNION.hpp"
#include "streams/MOUNT_ORIENTATION.hpp"
#include "streams/OBSTACLE_DISTANCE.hpp"
#include "streams/OPTICAL_FLOW.hpp"
#include "streams/ORBIT_EXECUTION_STATUS.hpp"
#include "streams/PING.hpp"
#include "streams/PROTOCOL_VERSION.hpp"
@ -4062,80 +4062,6 @@ protected:
}
};
class MavlinkStreamOpticalFlowRad : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamOpticalFlowRad::get_name_static();
}
static constexpr const char *get_name_static()
{
return "OPTICAL_FLOW_RAD";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamOpticalFlowRad(mavlink);
}
unsigned get_size() override
{
return _flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
uORB::Subscription _flow_sub{ORB_ID(optical_flow)};
/* do not allow top copying this class */
MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &) = delete;
MavlinkStreamOpticalFlowRad &operator = (const MavlinkStreamOpticalFlowRad &) = delete;
protected:
explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
optical_flow_s flow;
if (_flow_sub.update(&flow)) {
mavlink_optical_flow_rad_t msg{};
msg.time_usec = flow.timestamp;
msg.sensor_id = flow.sensor_id;
msg.integrated_x = flow.pixel_flow_x_integral;
msg.integrated_y = flow.pixel_flow_y_integral;
msg.integrated_xgyro = flow.gyro_x_rate_integral;
msg.integrated_ygyro = flow.gyro_y_rate_integral;
msg.integrated_zgyro = flow.gyro_z_rate_integral;
msg.distance = flow.ground_distance_m;
msg.quality = flow.quality;
msg.integration_time_us = flow.integration_timespan;
msg.sensor_id = flow.sensor_id;
msg.time_delta_distance_us = flow.time_since_last_sonar_update;
msg.temperature = flow.gyro_temperature;
mavlink_msg_optical_flow_rad_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamNavControllerOutput : public MavlinkStream
{
public:
@ -4325,7 +4251,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamRCChannels>(),
create_stream_list_item<MavlinkStreamManualControl>(),
create_stream_list_item<MavlinkStreamTrajectoryRepresentationWaypoints>(),
#if defined(OPTICAL_FLOW_HPP)
create_stream_list_item<MavlinkStreamOpticalFlowRad>(),
#endif // OPTICAL_FLOW_HPP
create_stream_list_item<MavlinkStreamActuatorControlTarget<0> >(),
create_stream_list_item<MavlinkStreamActuatorControlTarget<1> >(),
#if defined(NAMED_VALUE_FLOAT_HPP)

113
src/modules/mavlink/streams/OPTICAL_FLOW.hpp Normal file
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@ -0,0 +1,113 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef OPTICAL_FLOW_HPP
#define OPTICAL_FLOW_HPP
#include <uORB/topics/optical_flow.h>
class MavlinkStreamOpticalFlowRad : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamOpticalFlowRad::get_name_static();
}
static constexpr const char *get_name_static()
{
return "OPTICAL_FLOW_RAD";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamOpticalFlowRad(mavlink);
}
unsigned get_size() override
{
return _flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
uORB::Subscription _flow_sub{ORB_ID(optical_flow)};
/* do not allow top copying this class */
MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &) = delete;
MavlinkStreamOpticalFlowRad &operator = (const MavlinkStreamOpticalFlowRad &) = delete;
protected:
explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
optical_flow_s flow;
if (_flow_sub.update(&flow)) {
mavlink_optical_flow_rad_t msg{};
msg.time_usec = flow.timestamp;
msg.sensor_id = flow.sensor_id;
msg.integrated_x = flow.pixel_flow_x_integral;
msg.integrated_y = flow.pixel_flow_y_integral;
msg.integrated_xgyro = flow.gyro_x_rate_integral;
msg.integrated_ygyro = flow.gyro_y_rate_integral;
msg.integrated_zgyro = flow.gyro_z_rate_integral;
msg.distance = flow.ground_distance_m;
msg.quality = flow.quality;
msg.integration_time_us = flow.integration_timespan;
msg.sensor_id = flow.sensor_id;
msg.time_delta_distance_us = flow.time_since_last_sonar_update;
msg.temperature = flow.gyro_temperature;
mavlink_msg_optical_flow_rad_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // OPTICAL_FLOW_HPP