fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-11 18:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: move GIMBAL_MANAGER_STATUS to separate stream header

Browse Source
This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent 581e28eb33
commit aaf7b41dda
2 changed files with 92 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_messages.cpp
+4 -71
View File
@@ -70,7 +70,6 @@
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/gimbal_device_attitude_status.h>
#include <uORB/topics/gimbal_manager_information.h>
#include <uORB/topics/gimbal_manager_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_baro.h>
@@ -148,6 +147,7 @@ using matrix::wrap_2pi;
# include "streams/DEBUG_FLOAT_ARRAY.hpp"
# include "streams/DEBUG_VECT.hpp"
# include "streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp"
# include "streams/GIMBAL_MANAGER_STATUS.hpp"
# include "streams/LINK_NODE_STATUS.hpp"
# include "streams/NAMED_VALUE_FLOAT.hpp"
# include "streams/ODOMETRY.hpp"
@@ -2126,75 +2126,6 @@ protected:
}
};
class MavlinkStreamGimbalManagerStatus : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamGimbalManagerStatus::get_name_static();
}
static constexpr const char *get_name_static()
{
return "GIMBAL_MANAGER_STATUS";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamGimbalManagerStatus(mavlink);
}
unsigned get_size() override
{
return _gimbal_manager_status_sub.advertised() ? (MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS_LEN +
MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
uORB::Subscription _gimbal_manager_status_sub{ORB_ID(gimbal_manager_status)};
/* do not allow top copying this class */
MavlinkStreamGimbalManagerStatus(MavlinkStreamGimbalManagerStatus &) = delete;
MavlinkStreamGimbalManagerStatus &operator = (const MavlinkStreamGimbalManagerStatus &) = delete;
protected:
explicit MavlinkStreamGimbalManagerStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
gimbal_manager_status_s gimbal_manager_status;
if (_gimbal_manager_status_sub.advertised() && _gimbal_manager_status_sub.copy(&gimbal_manager_status)) {
mavlink_gimbal_manager_status_t msg{};
msg.time_boot_ms = gimbal_manager_status.timestamp / 1000;
msg.gimbal_device_id = gimbal_manager_status.gimbal_device_id;
msg.primary_control_sysid = gimbal_manager_status.primary_control_sysid;
msg.primary_control_compid = gimbal_manager_status.primary_control_compid;
msg.secondary_control_sysid = gimbal_manager_status.secondary_control_sysid;
msg.secondary_control_compid = gimbal_manager_status.secondary_control_compid;
msg.flags = gimbal_manager_status.flags;
mavlink_msg_gimbal_manager_status_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif
class MavlinkStreamCameraTrigger : public MavlinkStream
@@ -2434,9 +2365,11 @@ static const StreamListItem streams_list[] = {
#if !defined(CONSTRAINED_FLASH)
create_stream_list_item<MavlinkStreamGimbalDeviceAttitudeStatus>(),
create_stream_list_item<MavlinkStreamGimbalManagerInformation>(),
create_stream_list_item<MavlinkStreamGimbalManagerStatus>(),
create_stream_list_item<MavlinkStreamAutopilotStateForGimbalDevice>(),
#endif
#if defined(GIMBAL_MANAGER_STATUS_HPP)
create_stream_list_item<MavlinkStreamGimbalManagerStatus>(),
#endif // GIMBAL_MANAGER_STATUS_HPP
#if defined(GIMBAL_DEVICE_SET_ATTITUDE_HPP)
create_stream_list_item<MavlinkStreamGimbalDeviceSetAttitude>(),
#endif // GIMBAL_DEVICE_SET_ATTITUDE_HPP
src/modules/mavlink/streams/GIMBAL_MANAGER_STATUS.hpp
+88
View File
@@ -0,0 +1,88 @@
/****************************************************************************
*
* 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 GIMBAL_MANAGER_STATUS_HPP
#define GIMBAL_MANAGER_STATUS_HPP
#include <uORB/topics/gimbal_manager_status.h>
class MavlinkStreamGimbalManagerStatus : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalManagerStatus(mavlink); }
static constexpr const char *get_name_static() { return "GIMBAL_MANAGER_STATUS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
if (_gimbal_manager_status_sub.advertised()) {
return MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
private:
explicit MavlinkStreamGimbalManagerStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _gimbal_manager_status_sub{ORB_ID(gimbal_manager_status)};
bool send() override
{
gimbal_manager_status_s gimbal_manager_status;
if (_gimbal_manager_status_sub.advertised() && _gimbal_manager_status_sub.copy(&gimbal_manager_status)) {
mavlink_gimbal_manager_status_t msg{};
msg.time_boot_ms = gimbal_manager_status.timestamp / 1000;
msg.flags = gimbal_manager_status.flags;
msg.gimbal_device_id = gimbal_manager_status.gimbal_device_id;
msg.primary_control_sysid = gimbal_manager_status.primary_control_sysid;
msg.primary_control_compid = gimbal_manager_status.primary_control_compid;
msg.secondary_control_sysid = gimbal_manager_status.secondary_control_sysid;
msg.secondary_control_compid = gimbal_manager_status.secondary_control_compid;
mavlink_msg_gimbal_manager_status_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // GIMBAL_MANAGER_STATUS_HPP