From aaf7b41dda053afee5451030611de5823e0e6c2a Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 20 Feb 2021 13:21:28 -0500 Subject: [PATCH] mavlink: move GIMBAL_MANAGER_STATUS to separate stream header --- src/modules/mavlink/mavlink_messages.cpp | 75 +--------------- .../mavlink/streams/GIMBAL_MANAGER_STATUS.hpp | 88 +++++++++++++++++++ 2 files changed, 92 insertions(+), 71 deletions(-) create mode 100644 src/modules/mavlink/streams/GIMBAL_MANAGER_STATUS.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index ed5c8f2e3f..ca2e721e60 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -70,7 +70,6 @@ #include #include #include -#include #include #include #include @@ -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(), create_stream_list_item(), - create_stream_list_item(), create_stream_list_item(), #endif +#if defined(GIMBAL_MANAGER_STATUS_HPP) + create_stream_list_item(), +#endif // GIMBAL_MANAGER_STATUS_HPP #if defined(GIMBAL_DEVICE_SET_ATTITUDE_HPP) create_stream_list_item(), #endif // GIMBAL_DEVICE_SET_ATTITUDE_HPP diff --git a/src/modules/mavlink/streams/GIMBAL_MANAGER_STATUS.hpp b/src/modules/mavlink/streams/GIMBAL_MANAGER_STATUS.hpp new file mode 100644 index 0000000000..ecab79410c --- /dev/null +++ b/src/modules/mavlink/streams/GIMBAL_MANAGER_STATUS.hpp @@ -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 + +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