From 826dfa1941520ca51c705336727745a701f906c7 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 10 Oct 2020 13:45:27 -0400 Subject: [PATCH] mavlink: move OBSTACLE_DISTANCE stream to separate file --- src/modules/mavlink/mavlink_messages.cpp | 75 +--------------- .../mavlink/streams/OBSTACLE_DISTANCE.hpp | 87 +++++++++++++++++++ 2 files changed, 90 insertions(+), 72 deletions(-) create mode 100644 src/modules/mavlink/streams/OBSTACLE_DISTANCE.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 7cec0158ed..6a4ca98677 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -79,7 +79,6 @@ #include #include #include -#include #include #include #include @@ -121,6 +120,7 @@ using matrix::wrap_2pi; #include "streams/EXTENDED_SYS_STATE.hpp" #include "streams/FLIGHT_INFORMATION.hpp" #include "streams/HIGH_LATENCY2.hpp" +#include "streams/OBSTACLE_DISTANCE.hpp" #include "streams/PROTOCOL_VERSION.hpp" #include "streams/RAW_RPM.hpp" #include "streams/STORAGE_INFORMATION.hpp" @@ -5158,77 +5158,6 @@ protected: } }; -class MavlinkStreamObstacleDistance : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamObstacleDistance::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "OBSTACLE_DISTANCE"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_OBSTACLE_DISTANCE; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamObstacleDistance(mavlink); - } - - unsigned get_size() override - { - return _obstacle_distance_fused_sub.advertised() ? (MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN + - MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _obstacle_distance_fused_sub{ORB_ID(obstacle_distance_fused)}; - - /* do not allow top copying this class */ - MavlinkStreamObstacleDistance(MavlinkStreamObstacleDistance &) = delete; - MavlinkStreamObstacleDistance &operator = (const MavlinkStreamObstacleDistance &) = delete; - -protected: - explicit MavlinkStreamObstacleDistance(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - obstacle_distance_s obstacle_distance; - - if (_obstacle_distance_fused_sub.update(&obstacle_distance)) { - mavlink_obstacle_distance_t msg{}; - - msg.time_usec = obstacle_distance.timestamp; - msg.sensor_type = obstacle_distance.sensor_type; - memcpy(msg.distances, obstacle_distance.distances, sizeof(msg.distances)); - msg.increment = 0; - msg.min_distance = obstacle_distance.min_distance; - msg.max_distance = obstacle_distance.max_distance; - msg.angle_offset = obstacle_distance.angle_offset; - msg.increment_f = obstacle_distance.increment; - msg.frame = obstacle_distance.frame; - - mavlink_msg_obstacle_distance_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), @@ -5293,7 +5222,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), +#if defined(OBSTACLE_DISTANCE_HPP) create_stream_list_item(), +#endif // OBSTACLE_DISTANCE_HPP #if defined(ESC_INFO_HPP) create_stream_list_item(), #endif // ESC_INFO_HPP diff --git a/src/modules/mavlink/streams/OBSTACLE_DISTANCE.hpp b/src/modules/mavlink/streams/OBSTACLE_DISTANCE.hpp new file mode 100644 index 0000000000..93d936dea4 --- /dev/null +++ b/src/modules/mavlink/streams/OBSTACLE_DISTANCE.hpp @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * 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 OBSTACLE_DISTANCE_HPP +#define OBSTACLE_DISTANCE_HPP + +#include + +class MavlinkStreamObstacleDistance : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamObstacleDistance(mavlink); } + + static constexpr const char *get_name_static() { return "OBSTACLE_DISTANCE"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_OBSTACLE_DISTANCE; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _obstacle_distance_fused_sub.advertised() ? (MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN + + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + } + +private: + explicit MavlinkStreamObstacleDistance(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _obstacle_distance_fused_sub{ORB_ID(obstacle_distance_fused)}; + + bool send() override + { + obstacle_distance_s obstacle_distance; + + if (_obstacle_distance_fused_sub.update(&obstacle_distance)) { + mavlink_obstacle_distance_t msg{}; + + msg.time_usec = obstacle_distance.timestamp; + msg.sensor_type = obstacle_distance.sensor_type; + memcpy(msg.distances, obstacle_distance.distances, sizeof(msg.distances)); + msg.increment = 0; + msg.min_distance = obstacle_distance.min_distance; + msg.max_distance = obstacle_distance.max_distance; + msg.angle_offset = obstacle_distance.angle_offset; + msg.increment_f = obstacle_distance.increment; + msg.frame = obstacle_distance.frame; + + mavlink_msg_obstacle_distance_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // OBSTACLE_DISTANCE_HPP