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mavlink: move SYSTEM_TIME to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent af06adecd3
commit 849000ebeb
2 changed files with 79 additions and 62 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -62
View File
@@ -134,6 +134,7 @@ using matrix::wrap_2pi;
#include "streams/SERVO_OUTPUT_RAW.hpp"
#include "streams/STATUSTEXT.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
#include "streams/SYSTEM_TIME.hpp"
#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
#include "streams/VIBRATION.hpp"
#include "streams/WIND_COV.hpp"
@@ -1592,68 +1593,6 @@ protected:
};
#endif
class MavlinkStreamSystemTime : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamSystemTime::get_name_static();
}
static constexpr const char *get_name_static()
{
return "SYSTEM_TIME";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_SYSTEM_TIME;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamSystemTime(mavlink);
}
unsigned get_size() override
{
return MAVLINK_MSG_ID_SYSTEM_TIME_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
/* do not allow top copying this class */
MavlinkStreamSystemTime(MavlinkStreamSystemTime &) = delete;
MavlinkStreamSystemTime &operator = (const MavlinkStreamSystemTime &) = delete;
protected:
explicit MavlinkStreamSystemTime(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
timespec tv;
px4_clock_gettime(CLOCK_REALTIME, &tv);
mavlink_system_time_t msg{};
msg.time_boot_ms = hrt_absolute_time() / 1000;
msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000;
// If the time is before 2001-01-01, it's probably the default 2000
// and we don't need to bother sending it because it's definitely wrong.
if (msg.time_unix_usec > 978307200000000) {
mavlink_msg_system_time_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamTimesync : public MavlinkStream
{
public:
@@ -1923,7 +1862,9 @@ static const StreamListItem streams_list[] = {
#endif // GPS_GLOBAL_ORIGIN_HPP
create_stream_list_item<MavlinkStreamGPSRawInt>(),
create_stream_list_item<MavlinkStreamGPS2Raw>(),
#if defined(SYSTEM_TIME_HPP)
create_stream_list_item<MavlinkStreamSystemTime>(),
#endif // SYSTEM_TIME_HPP
create_stream_list_item<MavlinkStreamTimesync>(),
#if defined(GLOBAL_POSITION_INT_HPP)
create_stream_list_item<MavlinkStreamGlobalPositionInt>(),
src/modules/mavlink/streams/SYSTEM_TIME.hpp
+76
View File
@@ -0,0 +1,76 @@
/****************************************************************************
*
* Copyright (c) 2021 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 SYSTEM_TIME_HPP
#define SYSTEM_TIME_HPP
class MavlinkStreamSystemTime : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSystemTime(mavlink); }
static constexpr const char *get_name_static() { return "SYSTEM_TIME"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SYSTEM_TIME; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return MAVLINK_MSG_ID_SYSTEM_TIME_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
explicit MavlinkStreamSystemTime(Mavlink *mavlink) : MavlinkStream(mavlink) {}
bool send() override
{
timespec tv;
px4_clock_gettime(CLOCK_REALTIME, &tv);
mavlink_system_time_t msg{};
msg.time_boot_ms = hrt_absolute_time() / 1000;
msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000;
// If the time is before 2001-01-01, it's probably the default 2000
// and we don't need to bother sending it because it's definitely wrong.
if (msg.time_unix_usec > 978307200000000) {
mavlink_msg_system_time_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // SYSTEM_TIME_HPP