diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 6a4ca98677..dc8981a532 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -80,7 +80,6 @@ #include #include #include -#include #include #include #include @@ -121,6 +120,7 @@ using matrix::wrap_2pi; #include "streams/FLIGHT_INFORMATION.hpp" #include "streams/HIGH_LATENCY2.hpp" #include "streams/OBSTACLE_DISTANCE.hpp" +#include "streams/ORBIT_EXECUTION_STATUS.hpp" #include "streams/PROTOCOL_VERSION.hpp" #include "streams/RAW_RPM.hpp" #include "streams/STORAGE_INFORMATION.hpp" @@ -5093,71 +5093,6 @@ protected: } }; -class MavlinkStreamOrbitStatus : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamOrbitStatus::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "ORBIT_EXECUTION_STATUS"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamOrbitStatus(mavlink); - } - - unsigned get_size() override - { - return _orb_status_sub.advertised() ? MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _orb_status_sub{ORB_ID(orbit_status)}; - - /* do not allow top copying this class */ - MavlinkStreamOrbitStatus(MavlinkStreamOrbitStatus &); - MavlinkStreamOrbitStatus &operator = (const MavlinkStreamOrbitStatus &); - -protected: - explicit MavlinkStreamOrbitStatus(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - orbit_status_s _orbit_status; - - if (_orb_status_sub.update(&_orbit_status)) { - mavlink_orbit_execution_status_t _msg_orbit_execution_status{}; - - _msg_orbit_execution_status.time_usec = _orbit_status.timestamp; - _msg_orbit_execution_status.radius = _orbit_status.radius; - _msg_orbit_execution_status.frame = _orbit_status.frame; - _msg_orbit_execution_status.x = _orbit_status.x * 1e7; - _msg_orbit_execution_status.y = _orbit_status.y * 1e7; - _msg_orbit_execution_status.z = _orbit_status.z; - - mavlink_msg_orbit_execution_status_send_struct(_mavlink->get_channel(), &_msg_orbit_execution_status); - } - - return true; - } -}; - static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), @@ -5221,7 +5156,9 @@ static const StreamListItem streams_list[] = { #endif // HIGH_LATENCY2_HPP create_stream_list_item(), create_stream_list_item(), +#if defined(ORBIT_EXECUTION_STATUS_HPP) create_stream_list_item(), +#endif // ORBIT_EXECUTION_STATUS_HPP #if defined(OBSTACLE_DISTANCE_HPP) create_stream_list_item(), #endif // OBSTACLE_DISTANCE_HPP diff --git a/src/modules/mavlink/streams/ORBIT_EXECUTION_STATUS.hpp b/src/modules/mavlink/streams/ORBIT_EXECUTION_STATUS.hpp new file mode 100644 index 0000000000..ddf529dafb --- /dev/null +++ b/src/modules/mavlink/streams/ORBIT_EXECUTION_STATUS.hpp @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * 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 ORBIT_EXECUTION_STATUS_HPP +#define ORBIT_EXECUTION_STATUS_HPP + +#include + +class MavlinkStreamOrbitStatus : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOrbitStatus(mavlink); } + + static constexpr const char *get_name_static() { return "ORBIT_EXECUTION_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _orbit_status_sub.advertised() ? MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamOrbitStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _orbit_status_sub{ORB_ID(orbit_status)}; + + bool send() override + { + orbit_status_s orbit_status; + + if (_orbit_status_sub.update(&orbit_status)) { + mavlink_orbit_execution_status_t msg{}; + + msg.time_usec = orbit_status.timestamp; + msg.radius = orbit_status.radius; + msg.frame = orbit_status.frame; + msg.x = orbit_status.x * 1e7; + msg.y = orbit_status.y * 1e7; + msg.z = orbit_status.z; + + mavlink_msg_orbit_execution_status_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // ORBIT_EXECUTION_STATUS_HPP