Rename vmount to gimbal

src/modules/gimbal/input_mavlink.h

@@ -0,0 +1,133 @@
+/****************************************************************************
+*
+*   Copyright (c) 2016-2022 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.
+*
+****************************************************************************/
+
+
+#pragma once
+
+#include "input.h"
+#include "input_rc.h"
+#include <cstdint>
+
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/gimbal_device_attitude_status.h>
+#include <uORB/topics/gimbal_manager_information.h>
+#include <uORB/topics/gimbal_manager_status.h>
+#include <uORB/topics/gimbal_manager_set_attitude.h>
+#include <uORB/topics/gimbal_manager_set_manual_control.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_roi.h>
+#include <lib/geo/geo.h>
+
+
+namespace gimbal
+{
+
+class InputMavlinkROI : public InputBase
+{
+public:
+	InputMavlinkROI() = delete;
+	explicit InputMavlinkROI(Parameters &parameters);
+	virtual ~InputMavlinkROI();
+
+	void print_status() const override;
+	UpdateResult update(unsigned int timeout_ms, ControlData &control_data, bool already_active) override;
+	int initialize() override;
+
+private:
+	void _read_control_data_from_position_setpoint_sub(ControlData &control_data);
+
+	int _vehicle_roi_sub = -1;
+	int _position_setpoint_triplet_sub = -1;
+	uint8_t _cur_roi_mode {vehicle_roi_s::ROI_NONE};
+};
+
+
+class InputMavlinkCmdMount : public InputBase
+{
+public:
+	InputMavlinkCmdMount() = delete;
+	explicit InputMavlinkCmdMount(Parameters &parameters);
+	virtual ~InputMavlinkCmdMount();
+
+	void print_status() const override;
+	UpdateResult update(unsigned int timeout_ms, ControlData &control_data, bool already_active) override;
+	int initialize() override;
+
+private:
+	UpdateResult _process_command(ControlData &control_data, const vehicle_command_s &vehicle_command);
+	void _ack_vehicle_command(const vehicle_command_s &cmd);
+
+	int _vehicle_command_sub = -1;
+};
+
+class InputMavlinkGimbalV2 : public InputBase
+{
+public:
+	InputMavlinkGimbalV2() = delete;
+	explicit InputMavlinkGimbalV2(Parameters &parameters);
+	virtual ~InputMavlinkGimbalV2();
+
+	UpdateResult update(unsigned int timeout_ms, ControlData &control_data, bool already_active) override;
+	int initialize() override;
+	void print_status() const override;
+
+private:
+	UpdateResult _process_set_attitude(ControlData &control_data, const gimbal_manager_set_attitude_s &set_attitude);
+	UpdateResult _process_vehicle_roi(ControlData &control_data, const vehicle_roi_s &vehicle_roi);
+	UpdateResult _process_position_setpoint_triplet(ControlData &control_data,
+			const position_setpoint_triplet_s &position_setpoint_triplet);
+	UpdateResult _process_command(ControlData &control_data, const vehicle_command_s &vehicle_command);
+	UpdateResult _process_set_manual_control(ControlData &control_data,
+			const gimbal_manager_set_manual_control_s &set_manual_control);
+	void _set_control_data_from_set_attitude(ControlData &control_data, const uint32_t flags, const matrix::Quatf &q,
+			const matrix::Vector3f &angular_velocity);
+	void _ack_vehicle_command(const vehicle_command_s &cmd, uint8_t result);
+	void _stream_gimbal_manager_information();
+	void _stream_gimbal_manager_status(const ControlData &control_data);
+	void _read_control_data_from_position_setpoint_sub(ControlData &control_data);
+
+	int _vehicle_roi_sub = -1;
+	int _gimbal_manager_set_attitude_sub = -1;
+	int _gimbal_manager_set_manual_control_sub = -1;
+	int _position_setpoint_triplet_sub = -1;
+	int _vehicle_command_sub = -1;
+
+	uORB::Subscription _gimbal_device_attitude_status_sub{ORB_ID(gimbal_device_attitude_status)};
+	uORB::Publication<gimbal_manager_information_s> _gimbal_manager_info_pub{ORB_ID(gimbal_manager_information)};
+	uORB::Publication<gimbal_manager_status_s> _gimbal_manager_status_pub{ORB_ID(gimbal_manager_status)};
+	uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE;
+};
+
+} /* namespace gimbal */