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mavlink debug messages disable on CONSTRAINED_FLASH boards

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- mavlink messages DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT move to separate stream headers and don't include if CONSTRAINED_FLASH
 - mavlink receiver DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT handling excluded if CONSTRAINED_FLASH
 - msg: skip debug_array.msg, debug_key_value.msg, debug_value.msg, debug_vect.msg if CONSTRAINED_FLASH
This commit is contained in:
Daniel Agar
2020-10-20 11:05:47 -04:00
parent d9b3db1082
commit 16119f0e8c
9 changed files with 423 additions and 316 deletions
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src/modules/mavlink/mavlink_messages.cpp
+15 -271
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@@ -65,10 +65,6 @@
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/collision_report.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/debug_array.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/debug_value.h>
#include <uORB/topics/debug_vect.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/estimator_sensor_bias.h>
@@ -128,6 +124,13 @@ using matrix::wrap_2pi;
#include "streams/RAW_RPM.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
#if !defined(CONSTRAINED_FLASH)
# include "streams/DEBUG.hpp"
# include "streams/DEBUG_FLOAT_ARRAY.hpp"
# include "streams/DEBUG_VECT.hpp"
# include "streams/NAMED_VALUE_FLOAT.hpp"
#endif // !CONSTRAINED_FLASH
// ensure PX4 rotation enum and MAV_SENSOR_ROTATION align
static_assert(MAV_SENSOR_ROTATION_NONE == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_NONE),
"Roll: 0, Pitch: 0, Yaw: 0");
@@ -4165,273 +4168,6 @@ protected:
}
};
class MavlinkStreamNamedValueFloat : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamNamedValueFloat::get_name_static();
}
static constexpr const char *get_name_static()
{
return "NAMED_VALUE_FLOAT";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamNamedValueFloat(mavlink);
}
unsigned get_size() override
{
return _debug_sub.advertised() ? MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _debug_sub{ORB_ID(debug_key_value)};
/* do not allow top copying this class */
MavlinkStreamNamedValueFloat(MavlinkStreamNamedValueFloat &) = delete;
MavlinkStreamNamedValueFloat &operator = (const MavlinkStreamNamedValueFloat &) = delete;
protected:
explicit MavlinkStreamNamedValueFloat(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
debug_key_value_s debug;
if (_debug_sub.update(&debug)) {
mavlink_named_value_float_t msg{};
msg.time_boot_ms = debug.timestamp / 1000ULL;
memcpy(msg.name, debug.key, sizeof(msg.name));
/* enforce null termination */
msg.name[sizeof(msg.name) - 1] = '\0';
msg.value = debug.value;
mavlink_msg_named_value_float_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamDebug : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamDebug::get_name_static();
}
static constexpr const char *get_name_static()
{
return "DEBUG";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_DEBUG;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamDebug(mavlink);
}
unsigned get_size() override
{
return _debug_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _debug_sub{ORB_ID(debug_value)};
/* do not allow top copying this class */
MavlinkStreamDebug(MavlinkStreamDebug &) = delete;
MavlinkStreamDebug &operator = (const MavlinkStreamDebug &) = delete;
protected:
explicit MavlinkStreamDebug(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
debug_value_s debug;
if (_debug_sub.update(&debug)) {
mavlink_debug_t msg{};
msg.time_boot_ms = debug.timestamp / 1000ULL;
msg.ind = debug.ind;
msg.value = debug.value;
mavlink_msg_debug_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamDebugVect : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamDebugVect::get_name_static();
}
static constexpr const char *get_name_static()
{
return "DEBUG_VECT";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_DEBUG_VECT;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamDebugVect(mavlink);
}
unsigned get_size() override
{
return _debug_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_VECT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _debug_sub{ORB_ID(debug_vect)};
/* do not allow top copying this class */
MavlinkStreamDebugVect(MavlinkStreamDebugVect &) = delete;
MavlinkStreamDebugVect &operator = (const MavlinkStreamDebugVect &) = delete;
protected:
explicit MavlinkStreamDebugVect(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
debug_vect_s debug;
if (_debug_sub.update(&debug)) {
mavlink_debug_vect_t msg{};
msg.time_usec = debug.timestamp;
memcpy(msg.name, debug.name, sizeof(msg.name));
/* enforce null termination */
msg.name[sizeof(msg.name) - 1] = '\0';
msg.x = debug.x;
msg.y = debug.y;
msg.z = debug.z;
mavlink_msg_debug_vect_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamDebugFloatArray : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamDebugFloatArray::get_name_static();
}
static constexpr const char *get_name_static()
{
return "DEBUG_FLOAT_ARRAY";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamDebugFloatArray(mavlink);
}
unsigned get_size() override
{
return _debug_array_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _debug_array_sub{ORB_ID(debug_array)};
/* do not allow top copying this class */
MavlinkStreamDebugFloatArray(MavlinkStreamDebugFloatArray &);
MavlinkStreamDebugFloatArray &operator = (const MavlinkStreamDebugFloatArray &);
protected:
explicit MavlinkStreamDebugFloatArray(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
debug_array_s debug;
if (_debug_array_sub.update(&debug)) {
mavlink_debug_float_array_t msg{};
msg.time_usec = debug.timestamp;
msg.array_id = debug.id;
memcpy(msg.name, debug.name, sizeof(msg.name));
/* enforce null termination */
msg.name[sizeof(msg.name) - 1] = '\0';
for (size_t i = 0; i < debug_array_s::ARRAY_SIZE; i++) {
msg.data[i] = debug.data[i];
}
mavlink_msg_debug_float_array_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamNavControllerOutput : public MavlinkStream
{
public:
@@ -4974,10 +4710,18 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamOpticalFlowRad>(),
create_stream_list_item<MavlinkStreamActuatorControlTarget<0> >(),
create_stream_list_item<MavlinkStreamActuatorControlTarget<1> >(),
#if defined(NAMED_VALUE_FLOAT_HPP)
create_stream_list_item<MavlinkStreamNamedValueFloat>(),
#endif // NAMED_VALUE_FLOAT_HPP
#if defined(DEBUG_HPP)
create_stream_list_item<MavlinkStreamDebug>(),
#endif // DEBUG_HPP
#if defined(DEBUG_VECT_HPP)
create_stream_list_item<MavlinkStreamDebugVect>(),
#endif // DEBUG_VECT_HPP
#if defined(DEBUG_FLOAT_ARRAY_HPP)
create_stream_list_item<MavlinkStreamDebugFloatArray>(),
#endif // DEBUG_FLOAT_ARRAY_HPP
create_stream_list_item<MavlinkStreamNavControllerOutput>(),
create_stream_list_item<MavlinkStreamCameraCapture>(),
create_stream_list_item<MavlinkStreamCameraTrigger>(),