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mavlink: move RAW_RPM stream to separate file

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This commit is contained in:
Daniel Agar 2020-10-07 16:01:10 -04:00
parent 9c4abf334b
commit 94146a7b16
2 changed files with 81 additions and 65 deletions
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68
src/modules/mavlink/mavlink_messages.cpp
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@ -85,7 +85,6 @@
#include <uORB/topics/orbit_status.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/rpm.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/sensor_mag.h>
@ -123,6 +122,7 @@ using matrix::wrap_2pi;
#include "streams/EXTENDED_SYS_STATE.hpp"
#include "streams/FLIGHT_INFORMATION.hpp"
#include "streams/PROTOCOL_VERSION.hpp"
#include "streams/RAW_RPM.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
// ensure PX4 rotation enum and MAV_SENSOR_ROTATION align
@ -5229,70 +5229,6 @@ protected:
}
};
class MavlinkStreamRawRpm : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamRawRpm::get_name_static();
}
static constexpr const char *get_name_static()
{
return "RAW_RPM";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_RAW_RPM;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamRawRpm(mavlink);
}
unsigned get_size() override
{
return _rpm_sub.advertised() ? MAVLINK_MSG_ID_RAW_RPM + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _rpm_sub{ORB_ID(rpm)};
/* do not allow top copying this class */
MavlinkStreamRawRpm(MavlinkStreamRawRpm &) = delete;
MavlinkStreamRawRpm &operator = (const MavlinkStreamRawRpm &) = delete;
protected:
explicit MavlinkStreamRawRpm(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
{
rpm_s rpm;
if (_rpm_sub.update(&rpm)) {
mavlink_raw_rpm_t msg{};
msg.frequency = rpm.indicated_frequency_rpm;
mavlink_msg_raw_rpm_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamHeartbeat>(),
create_stream_list_item<MavlinkStreamStatustext>(),
@ -5374,7 +5310,9 @@ static const StreamListItem streams_list[] = {
#if defined(STORAGE_INFORMATION_HPP)
create_stream_list_item<MavlinkStreamStorageInformation>(),
#endif // STORAGE_INFORMATION_HPP
#if defined(RAW_RPM_HPP)
create_stream_list_item<MavlinkStreamRawRpm>()
#endif // RAW_RPM_HPP
};
const char *get_stream_name(const uint16_t msg_id)

78
src/modules/mavlink/streams/RAW_RPM.hpp Normal file
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@ -0,0 +1,78 @@
/****************************************************************************
*
* 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 RAW_RPM_HPP
#define RAW_RPM_HPP
#include <uORB/topics/rpm.h>
class MavlinkStreamRawRpm : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamRawRpm(mavlink); }
static constexpr const char *get_name_static() { return "RAW_RPM"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_RAW_RPM; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _rpm_sub.advertised() ? MAVLINK_MSG_ID_RAW_RPM + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamRawRpm(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _rpm_sub{ORB_ID(rpm)};
bool send(const hrt_abstime t) override
{
rpm_s rpm;
if (_rpm_sub.update(&rpm)) {
mavlink_raw_rpm_t msg{};
msg.frequency = rpm.indicated_frequency_rpm;
mavlink_msg_raw_rpm_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // RAW_RPM_HPP