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mavlink: move COLLISION to streams hpp

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Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>
This commit is contained in:
Antonio Sanjurjo Cortés
2020-11-29 23:00:48 +01:00
committed by Daniel Agar
parent 2243931abd
commit 7dde298664
2 changed files with 110 additions and 69 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -69
View File
@@ -62,7 +62,6 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/camera_capture.h>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/collision_report.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
@@ -110,6 +109,7 @@ using matrix::wrap_2pi;
#include "streams/ATTITUDE_QUATERNION.hpp"
#include "streams/ATTITUDE_TARGET.hpp"
#include "streams/AUTOPILOT_VERSION.hpp"
#include "streams/COLLISION.hpp"
#include "streams/DISTANCE_SENSOR.hpp"
#include "streams/ESC_INFO.hpp"
#include "streams/ESC_STATUS.hpp"
@@ -2091,74 +2091,6 @@ protected:
}
};
class MavlinkStreamCollision : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamCollision::get_name_static();
}
static constexpr const char *get_name_static()
{
return "COLLISION";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_COLLISION;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamCollision(mavlink);
}
unsigned get_size() override
{
return _collision_sub.advertised() ? MAVLINK_MSG_ID_COLLISION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _collision_sub{ORB_ID(collision_report)};
/* do not allow top copying this class */
MavlinkStreamCollision(MavlinkStreamCollision &) = delete;
MavlinkStreamCollision &operator = (const MavlinkStreamCollision &) = delete;
protected:
explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
collision_report_s report;
bool sent = false;
while (_collision_sub.update(&report)) {
mavlink_collision_t msg = {};
msg.src = report.src;
msg.id = report.id;
msg.action = report.action;
msg.threat_level = report.threat_level;
msg.time_to_minimum_delta = report.time_to_minimum_delta;
msg.altitude_minimum_delta = report.altitude_minimum_delta;
msg.horizontal_minimum_delta = report.horizontal_minimum_delta;
mavlink_msg_collision_send_struct(_mavlink->get_channel(), &msg);
sent = true;
}
return sent;
}
};
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
@@ -4045,7 +3977,9 @@ static const StreamListItem streams_list[] = {
#endif // ALTITUDE_HPP
create_stream_list_item<MavlinkStreamADSBVehicle>(),
create_stream_list_item<MavlinkStreamUTMGlobalPosition>(),
#if defined(COLLISION_HPP)
create_stream_list_item<MavlinkStreamCollision>(),
#endif // COLLISION_HPP
#if defined(WIND_COV_HPP)
create_stream_list_item<MavlinkStreamWindCov>(),
#endif // WIND_COV_HPP
src/modules/mavlink/streams/COLLISION.hpp
+107
View File
@@ -0,0 +1,107 @@
/****************************************************************************
*
* 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 COLLISION_HPP
#define COLLISION_HPP
#include <uORB/topics/collision_report.h>
class MavlinkStreamCollision : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamCollision::get_name_static();
}
static constexpr const char *get_name_static()
{
return "COLLISION";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_COLLISION;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamCollision(mavlink);
}
unsigned get_size() override
{
return _collision_sub.advertised() ? MAVLINK_MSG_ID_COLLISION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _collision_sub{ORB_ID(collision_report)};
/* do not allow top copying this class */
MavlinkStreamCollision(MavlinkStreamCollision &) = delete;
MavlinkStreamCollision &operator = (const MavlinkStreamCollision &) = delete;
protected:
explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
collision_report_s report;
bool sent = false;
while (_collision_sub.update(&report)) {
mavlink_collision_t msg = {};
msg.src = report.src;
msg.id = report.id;
msg.action = report.action;
msg.threat_level = report.threat_level;
msg.time_to_minimum_delta = report.time_to_minimum_delta;
msg.altitude_minimum_delta = report.altitude_minimum_delta;
msg.horizontal_minimum_delta = report.horizontal_minimum_delta;
mavlink_msg_collision_send_struct(_mavlink->get_channel(), &msg);
sent = true;
}
return sent;
}
};
#endif // COLLISION_HPP