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mavlink: move PING stream to separate file

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This commit is contained in:
Daniel Agar
2020-10-10 19:49:41 -04:00
parent 97dc988f86
commit 283264603a
2 changed files with 78 additions and 65 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -65
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@@ -121,6 +121,7 @@ using matrix::wrap_2pi;
#include "streams/HIGH_LATENCY2.hpp"
#include "streams/OBSTACLE_DISTANCE.hpp"
#include "streams/ORBIT_EXECUTION_STATUS.hpp"
#include "streams/PING.hpp"
#include "streams/PROTOCOL_VERSION.hpp"
#include "streams/RAW_RPM.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
@@ -5028,71 +5029,6 @@ protected:
}
};
class MavlinkStreamPing : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamPing::get_name_static();
}
static constexpr const char *get_name_static()
{
return "PING";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_PING;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamPing(mavlink);
}
unsigned get_size() override
{
return MAVLINK_MSG_ID_PING_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
bool const_rate() override
{
return true;
}
private:
uint32_t _sequence;
/* do not allow top copying this class */
MavlinkStreamPing(MavlinkStreamPing &) = delete;
MavlinkStreamPing &operator = (const MavlinkStreamPing &) = delete;
protected:
explicit MavlinkStreamPing(Mavlink *mavlink) : MavlinkStream(mavlink),
_sequence(0)
{}
bool send() override
{
mavlink_ping_t msg = {};
msg.time_usec = hrt_absolute_time();
msg.seq = _sequence++;
msg.target_system = 0; // All systems
msg.target_component = 0; // All components
mavlink_msg_ping_send_struct(_mavlink->get_channel(), &msg);
return true;
}
};
static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamHeartbeat>(),
create_stream_list_item<MavlinkStreamStatustext>(),
@@ -5155,7 +5091,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamHighLatency2>(),
#endif // HIGH_LATENCY2_HPP
create_stream_list_item<MavlinkStreamGroundTruth>(),
#if defined(PING_HPP)
create_stream_list_item<MavlinkStreamPing>(),
#endif // PING_HPP
#if defined(ORBIT_EXECUTION_STATUS_HPP)
create_stream_list_item<MavlinkStreamOrbitStatus>(),
#endif // ORBIT_EXECUTION_STATUS_HPP