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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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mavlink: move ADSB_VEHICLE to separate stream header
This commit is contained in:
Daniel Agar
parent
ecfbd79a90
commit
af06adecd3
@ -75,7 +75,6 @@
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#include <uORB/topics/sensor_mag.h>
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/telemetry_status.h>
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#include <uORB/topics/transponder_report.h>
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#include <uORB/topics/vehicle_air_data.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_attitude.h>
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@ -140,6 +139,7 @@ using matrix::wrap_2pi;
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#include "streams/WIND_COV.hpp"
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#if !defined(CONSTRAINED_FLASH)
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# include "streams/ADSB_VEHICLE.hpp"
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# include "streams/ATT_POS_MOCAP.hpp"
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# include "streams/DEBUG.hpp"
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# include "streams/DEBUG_FLOAT_ARRAY.hpp"
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@ -1709,102 +1709,6 @@ protected:
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}
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};
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class MavlinkStreamADSBVehicle : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return MavlinkStreamADSBVehicle::get_name_static();
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}
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static constexpr const char *get_name_static()
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{
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return "ADSB_VEHICLE";
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}
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static constexpr uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_ADSB_VEHICLE;
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}
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uint16_t get_id() override
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{
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return get_id_static();
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new MavlinkStreamADSBVehicle(mavlink);
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}
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bool const_rate() override
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{
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return true;
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}
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unsigned get_size() override
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{
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return _pos_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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uORB::Subscription _pos_sub{ORB_ID(transponder_report)};
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/* do not allow top copying this class */
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MavlinkStreamADSBVehicle(MavlinkStreamADSBVehicle &) = delete;
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MavlinkStreamADSBVehicle &operator = (const MavlinkStreamADSBVehicle &) = delete;
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protected:
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explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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transponder_report_s pos;
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bool sent = false;
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while ((_mavlink->get_free_tx_buf() >= get_size()) && _pos_sub.update(&pos)) {
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if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) {
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continue;
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}
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mavlink_adsb_vehicle_t msg{};
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msg.ICAO_address = pos.icao_address;
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msg.lat = pos.lat * 1e7;
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msg.lon = pos.lon * 1e7;
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msg.altitude_type = pos.altitude_type;
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msg.altitude = pos.altitude * 1e3f;
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msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f;
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msg.hor_velocity = pos.hor_velocity * 100.0f;
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msg.ver_velocity = pos.ver_velocity * 100.0f;
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memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));
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msg.emitter_type = pos.emitter_type;
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msg.tslc = pos.tslc;
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msg.squawk = pos.squawk;
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msg.flags = 0;
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; }
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; }
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; }
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; }
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; }
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }
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mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
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sent = true;
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}
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return sent;
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}
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};
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class MavlinkStreamCameraTrigger : public MavlinkStream
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{
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public:
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@ -2118,7 +2022,9 @@ static const StreamListItem streams_list[] = {
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#if defined(ALTITUDE_HPP)
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create_stream_list_item<MavlinkStreamAltitude>(),
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#endif // ALTITUDE_HPP
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#if defined(ADSB_VEHICLE_HPP)
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create_stream_list_item<MavlinkStreamADSBVehicle>(),
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#endif // ADSB_VEHICLE_HPP
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#if defined(UTM_GLOBAL_POSITION_HPP)
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create_stream_list_item<MavlinkStreamUTMGlobalPosition>(),
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#endif // UTM_GLOBAL_POSITION_HPP
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110
src/modules/mavlink/streams/ADSB_VEHICLE.hpp
Normal file
110
src/modules/mavlink/streams/ADSB_VEHICLE.hpp
Normal file
@ -0,0 +1,110 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef ADSB_VEHICLE_HPP
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#define ADSB_VEHICLE_HPP
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#include <uORB/topics/transponder_report.h>
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class MavlinkStreamADSBVehicle : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamADSBVehicle(mavlink); }
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static constexpr const char *get_name_static() { return "ADSB_VEHICLE"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ADSB_VEHICLE; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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bool const_rate() override { return true; }
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unsigned get_size() override
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{
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return _transponder_report_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _transponder_report_sub{ORB_ID(transponder_report)};
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bool send() override
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{
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bool sent = false;
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transponder_report_s pos;
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while ((_mavlink->get_free_tx_buf() >= get_size()) && _transponder_report_sub.update(&pos)) {
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if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) {
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continue;
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}
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mavlink_adsb_vehicle_t msg{};
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msg.ICAO_address = pos.icao_address;
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msg.lat = pos.lat * 1e7;
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msg.lon = pos.lon * 1e7;
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msg.altitude_type = pos.altitude_type;
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msg.altitude = pos.altitude * 1e3f;
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msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f;
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msg.hor_velocity = pos.hor_velocity * 100.0f;
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msg.ver_velocity = pos.ver_velocity * 100.0f;
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memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));
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msg.emitter_type = pos.emitter_type;
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msg.tslc = pos.tslc;
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msg.squawk = pos.squawk;
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msg.flags = 0;
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; }
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; }
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; }
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; }
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; }
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if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }
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mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
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sent = true;
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}
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return sent;
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}
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};
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#endif // ADSB_VEHICLE_HPP
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