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mavlink: move SCALED_PRESSURE to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent 477d8c3738
commit 248978b25e
4 changed files with 309 additions and 149 deletions
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src/modules/mavlink/mavlink_messages.cpp
+12 -149
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@@ -131,6 +131,7 @@ using matrix::wrap_2pi;
#include "streams/RAW_RPM.hpp"
#include "streams/RC_CHANNELS.hpp"
#include "streams/SCALED_IMU.hpp"
#include "streams/SCALED_PRESSURE.hpp"
#include "streams/SERVO_OUTPUT_RAW.hpp"
#include "streams/STATUSTEXT.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
@@ -157,6 +158,8 @@ using matrix::wrap_2pi;
# include "streams/LINK_NODE_STATUS.hpp"
# include "streams/NAMED_VALUE_FLOAT.hpp"
# include "streams/ODOMETRY.hpp"
# include "streams/SCALED_PRESSURE2.hpp"
# include "streams/SCALED_PRESSURE3.hpp"
# include "streams/UTM_GLOBAL_POSITION.hpp"
#endif // !CONSTRAINED_FLASH
@@ -1067,152 +1070,6 @@ protected:
}
};
template <int N, typename Derived>
class MavlinkStreamScaledPressureBase : public MavlinkStream
{
public:
const char *get_name() const override
{
return Derived::get_name_static();
}
uint16_t get_id() override
{
return Derived::get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new Derived(mavlink);
}
private:
uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)};
uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), N};
/* do not allow top copying this class */
MavlinkStreamScaledPressureBase(MavlinkStreamScaledPressureBase &) = delete;
MavlinkStreamScaledPressureBase &operator = (const MavlinkStreamScaledPressureBase &) = delete;
protected:
explicit MavlinkStreamScaledPressureBase(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) {
sensor_baro_s sensor_baro{};
differential_pressure_s differential_pressure{};
_sensor_baro_sub.copy(&sensor_baro);
_differential_pressure_sub.copy(&differential_pressure);
typename Derived::mav_msg_type msg{};
msg.time_boot_ms = sensor_baro.timestamp / 1000;
msg.press_abs = sensor_baro.pressure;
msg.press_diff = differential_pressure.differential_pressure_raw_pa;
msg.temperature = sensor_baro.temperature;
Derived::send(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
template <int N> class MavlinkStreamScaledPressure {};
template <>
class MavlinkStreamScaledPressure<0> : public MavlinkStreamScaledPressureBase<0, MavlinkStreamScaledPressure<0> >
{
public:
typedef MavlinkStreamScaledPressureBase<0, MavlinkStreamScaledPressure<0> > Base;
typedef mavlink_scaled_pressure_t mav_msg_type;
explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {}
static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<0>::mav_msg_type *msg)
{
mavlink_msg_scaled_pressure_send_struct(channel, msg);
}
static const char *get_name_static()
{
return "SCALED_PRESSURE";
}
static uint16_t get_id_static()
{
return MAVLINK_MSG_ID_SCALED_PRESSURE;
}
unsigned get_size() override
{
return MAVLINK_MSG_ID_SCALED_PRESSURE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
};
template <>
class MavlinkStreamScaledPressure<1> : public MavlinkStreamScaledPressureBase<1, MavlinkStreamScaledPressure<1> >
{
public:
typedef MavlinkStreamScaledPressureBase<1, MavlinkStreamScaledPressure<1> > Base;
typedef mavlink_scaled_pressure2_t mav_msg_type;
explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {}
static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<1>::mav_msg_type *msg)
{
mavlink_msg_scaled_pressure2_send_struct(channel, msg);
}
static const char *get_name_static()
{
return "SCALED_PRESSURE2";
}
static uint16_t get_id_static()
{
return MAVLINK_MSG_ID_SCALED_PRESSURE2;
}
unsigned get_size() override
{
return MAVLINK_MSG_ID_SCALED_PRESSURE2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
};
template <>
class MavlinkStreamScaledPressure<2> : public MavlinkStreamScaledPressureBase<2, MavlinkStreamScaledPressure<2> >
{
public:
typedef MavlinkStreamScaledPressureBase<2, MavlinkStreamScaledPressure<2> > Base;
typedef mavlink_scaled_pressure3_t mav_msg_type;
explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {}
static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<2>::mav_msg_type *msg)
{
mavlink_msg_scaled_pressure3_send_struct(channel, msg);
}
static const char *get_name_static()
{
return "SCALED_PRESSURE3";
}
static uint16_t get_id_static()
{
return MAVLINK_MSG_ID_SCALED_PRESSURE3;
}
unsigned get_size() override
{
return MAVLINK_MSG_ID_SCALED_PRESSURE3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
};
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
@@ -1409,9 +1266,15 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamScaledIMU<1> >(),
create_stream_list_item<MavlinkStreamScaledIMU<2> >(),
#endif // SCALED_IMU_HPP
create_stream_list_item<MavlinkStreamScaledPressure<0> >(),
// create_stream_list_item<MavlinkStreamScaledPressure<1> >(),
// create_stream_list_item<MavlinkStreamScaledPressure<2> >(),
#if defined(SCALED_PRESSURE)
create_stream_list_item<MavlinkStreamScaledPressure>(),
#endif // SCALED_PRESSURE
#if defined(SCALED_PRESSURE2)
create_stream_list_item<MavlinkStreamScaledPressure2>(),
#endif // SCALED_PRESSURE2
#if defined(SCALED_PRESSURE3)
create_stream_list_item<MavlinkStreamScaledPressure3>(),
#endif // SCALED_PRESSURE3
#if defined(ACTUATOR_OUTPUT_STATUS_HPP)
create_stream_list_item<MavlinkStreamActuatorOutputStatus>(),
#endif // ACTUATOR_OUTPUT_STATUS_HPP