From 849000ebeb9b2546cfc639ca01470bb0f161e456 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 20 Feb 2021 13:50:22 -0500 Subject: [PATCH] mavlink: move SYSTEM_TIME to separate stream header --- src/modules/mavlink/mavlink_messages.cpp | 65 +----------------- src/modules/mavlink/streams/SYSTEM_TIME.hpp | 76 +++++++++++++++++++++ 2 files changed, 79 insertions(+), 62 deletions(-) create mode 100644 src/modules/mavlink/streams/SYSTEM_TIME.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index d0e6938095..7429d162c0 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -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(), create_stream_list_item(), +#if defined(SYSTEM_TIME_HPP) create_stream_list_item(), +#endif // SYSTEM_TIME_HPP create_stream_list_item(), #if defined(GLOBAL_POSITION_INT_HPP) create_stream_list_item(), diff --git a/src/modules/mavlink/streams/SYSTEM_TIME.hpp b/src/modules/mavlink/streams/SYSTEM_TIME.hpp new file mode 100644 index 0000000000..167feecabc --- /dev/null +++ b/src/modules/mavlink/streams/SYSTEM_TIME.hpp @@ -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