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mavlink: move TRAJECTORY_REPRESENTATION_WAYPOINTS to separate streams header

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This commit is contained in:
Daniel Agar
2020-12-28 11:09:46 +01:00
committed by Lorenz Meier
parent 5762c3b356
commit 629d03b684
2 changed files with 127 additions and 109 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -109
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@@ -97,7 +97,6 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>
#include <uORB/topics/vtol_vehicle_status.h>
using matrix::Vector3f;
@@ -128,6 +127,7 @@ using matrix::wrap_2pi;
#include "streams/RAW_RPM.hpp"
#include "streams/STATUSTEXT.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
#include "streams/WIND_COV.hpp"
#if !defined(CONSTRAINED_FLASH)
@@ -3667,114 +3667,6 @@ protected:
}
};
class MavlinkStreamTrajectoryRepresentationWaypoints: public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamTrajectoryRepresentationWaypoints::get_name_static();
}
static constexpr const char *get_name_static()
{
return "TRAJECTORY_REPRESENTATION_WAYPOINTS";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamTrajectoryRepresentationWaypoints(mavlink);
}
unsigned get_size() override
{
if (_traj_wp_avoidance_sub.advertised()) {
return MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
private:
uORB::Subscription _traj_wp_avoidance_sub{ORB_ID(vehicle_trajectory_waypoint_desired)};
/* do not allow top copying this class */
MavlinkStreamTrajectoryRepresentationWaypoints(MavlinkStreamTrajectoryRepresentationWaypoints &);
MavlinkStreamTrajectoryRepresentationWaypoints &operator = (const MavlinkStreamTrajectoryRepresentationWaypoints &);
protected:
explicit MavlinkStreamTrajectoryRepresentationWaypoints(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_trajectory_waypoint_s traj_wp_avoidance_desired;
if (_traj_wp_avoidance_sub.update(&traj_wp_avoidance_desired)) {
mavlink_trajectory_representation_waypoints_t msg{};
msg.time_usec = traj_wp_avoidance_desired.timestamp;
int number_valid_points = 0;
for (int i = 0; i < vehicle_trajectory_waypoint_s::NUMBER_POINTS; ++i) {
msg.pos_x[i] = traj_wp_avoidance_desired.waypoints[i].position[0];
msg.pos_y[i] = traj_wp_avoidance_desired.waypoints[i].position[1];
msg.pos_z[i] = traj_wp_avoidance_desired.waypoints[i].position[2];
msg.vel_x[i] = traj_wp_avoidance_desired.waypoints[i].velocity[0];
msg.vel_y[i] = traj_wp_avoidance_desired.waypoints[i].velocity[1];
msg.vel_z[i] = traj_wp_avoidance_desired.waypoints[i].velocity[2];
msg.acc_x[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[0];
msg.acc_y[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[1];
msg.acc_z[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[2];
msg.pos_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw;
msg.vel_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw_speed;
switch (traj_wp_avoidance_desired.waypoints[i].type) {
case position_setpoint_s::SETPOINT_TYPE_TAKEOFF:
msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
break;
case position_setpoint_s::SETPOINT_TYPE_LOITER:
msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
break;
case position_setpoint_s::SETPOINT_TYPE_LAND:
msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
break;
default:
msg.command[i] = UINT16_MAX;
}
if (traj_wp_avoidance_desired.waypoints[i].point_valid) {
number_valid_points++;
}
}
msg.valid_points = number_valid_points;
mavlink_msg_trajectory_representation_waypoints_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -3893,7 +3785,9 @@ static const StreamListItem streams_list[] = {
#endif // ATTITUDE_TARGET_HPP
create_stream_list_item<MavlinkStreamRCChannels>(),
create_stream_list_item<MavlinkStreamManualControl>(),
#if defined(TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP)
create_stream_list_item<MavlinkStreamTrajectoryRepresentationWaypoints>(),
#endif // TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP
#if defined(OPTICAL_FLOW_RAD_HPP)
create_stream_list_item<MavlinkStreamOpticalFlowRad>(),
#endif // OPTICAL_FLOW_RAD_HPP