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mavlink: move ORBIT_EXECUTION_STATUS stream to separate file

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This commit is contained in:
Daniel Agar
2020-10-10 19:49:41 -04:00
parent 826dfa1941
commit 97dc988f86
2 changed files with 86 additions and 66 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -66
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@@ -80,7 +80,6 @@
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/mount_orientation.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/orbit_status.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_baro.h>
@@ -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<MavlinkStreamHeartbeat>(),
create_stream_list_item<MavlinkStreamStatustext>(),
@@ -5221,7 +5156,9 @@ static const StreamListItem streams_list[] = {
#endif // HIGH_LATENCY2_HPP
create_stream_list_item<MavlinkStreamGroundTruth>(),
create_stream_list_item<MavlinkStreamPing>(),
#if defined(ORBIT_EXECUTION_STATUS_HPP)
create_stream_list_item<MavlinkStreamOrbitStatus>(),
#endif // ORBIT_EXECUTION_STATUS_HPP
#if defined(OBSTACLE_DISTANCE_HPP)
create_stream_list_item<MavlinkStreamObstacleDistance>(),
#endif // OBSTACLE_DISTANCE_HPP