mavlink: move TRAJECTORY_REPRESENTATION_WAYPOINTS to separate streams header

2026-10-22 05:03:34 +08:00 · 2020-12-28 11:09:46 +01:00
parent 5762c3b356
commit 629d03b684
2 changed files with 127 additions and 109 deletions
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+#ifndef TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP
+#define TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP
+
+#include <uORB/topics/vehicle_trajectory_waypoint.h>
+
+class MavlinkStreamTrajectoryRepresentationWaypoints: public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamTrajectoryRepresentationWaypoints(mavlink); }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_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; }
+
+	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:
+	explicit MavlinkStreamTrajectoryRepresentationWaypoints(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _traj_wp_avoidance_sub{ORB_ID(vehicle_trajectory_waypoint_desired)};
+
+	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;
+	}
+};
+
+#endif // TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP