fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 04:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

component_information: rework to reflect mavlink message changes

Browse Source
This commit is contained in:
Beat Küng
2021-03-30 08:18:49 +02:00
parent 0f29b87101
commit 6a7688cbca
12 changed files with 179 additions and 156 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/streams/COMPONENT_INFORMATION.hpp
+8 -59
View File
@@ -36,7 +36,7 @@
#include "../mavlink_stream.h"
#include <component_information/hashes.h>
#include <component_information/checksums.h>
#include <px4_platform_common/defines.h>
@@ -61,34 +61,17 @@ public:
bool request_message(float param2, float param3, float param4,
float param5, float param6, float param7) override
{
int type = (int)roundf(param2);
mavlink_component_information_t component_info{};
bool handled = false;
PX4_DEBUG("COMPONENT_INFORMATION request type %i", type);
PX4_DEBUG("COMPONENT_INFORMATION request");
switch (type) {
case COMP_METADATA_TYPE_VERSION:
component_info.metadata_uid = component_information::component_version_hash;
handled = get_component_information("component_version.json.xz", component_info);
break;
strncpy(component_info.general_metadata_uri, "mftp://etc/extras/component_general.json.xz",
sizeof(component_info.general_metadata_uri) - 1);
component_info.general_metadata_file_crc = component_information::component_general_crc;
case COMP_METADATA_TYPE_PARAMETER:
component_info.metadata_uid = component_information::params_hash;
handled = get_component_information("params.json.xz", component_info);
break;
component_info.time_boot_ms = hrt_absolute_time() / 1000;
mavlink_msg_component_information_send_struct(_mavlink->get_channel(), &component_info);
case COMP_METADATA_TYPE_COMMANDS:
// TODO
break;
}
if (handled) {
component_info.metadata_type = type;
component_info.time_boot_ms = hrt_absolute_time() / 1000;
mavlink_msg_component_information_send_struct(_mavlink->get_channel(), &component_info);
}
return handled;
return true;
}
private:
explicit MavlinkStreamComponentInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {}
@@ -97,40 +80,6 @@ private:
{
return false;
}
bool get_component_information(const char *file, mavlink_component_information_t &component_info)
{
char full_path[64];
snprintf(full_path, sizeof(full_path), "%s/etc/extras/%s", PX4_ROOTFSDIR, file);
full_path[sizeof(full_path) - 1] = '\0';
if (file_exist(full_path)) {
if (snprintf(component_info.metadata_uri, sizeof(component_info.metadata_uri), "mftp://etc/extras/%s", file)
>= (int)sizeof(component_info.metadata_uri)) {
PX4_ERR("path too long (%s)", file);
return false;
}
} else {
// TODO:
// - check for tagged version, use per-version files
// - generate & use board-specific file
if (snprintf(component_info.metadata_uri, sizeof(component_info.metadata_uri),
"https://px4-travis.s3.amazonaws.com/Firmware/master/%s", file)
>= (int)sizeof(component_info.metadata_uri)) {
PX4_ERR("url too long (%s)", file);
return false;
}
}
return true;
}
bool file_exist(const char *filename)
{
struct stat buffer;
return stat(filename, &buffer) == 0;
}
};
#endif // COMPONENT_INFORMATION_HPP