From af06adecd36ea8f512fb836dc5617b196575ca55 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 20 Feb 2021 13:41:45 -0500 Subject: [PATCH] mavlink: move ADSB_VEHICLE to separate stream header --- src/modules/mavlink/mavlink_messages.cpp | 100 +---------------- src/modules/mavlink/streams/ADSB_VEHICLE.hpp | 110 +++++++++++++++++++ 2 files changed, 113 insertions(+), 97 deletions(-) create mode 100644 src/modules/mavlink/streams/ADSB_VEHICLE.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 4934b15313..d0e6938095 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -75,7 +75,6 @@ #include #include #include -#include #include #include #include @@ -140,6 +139,7 @@ using matrix::wrap_2pi; #include "streams/WIND_COV.hpp" #if !defined(CONSTRAINED_FLASH) +# include "streams/ADSB_VEHICLE.hpp" # include "streams/ATT_POS_MOCAP.hpp" # include "streams/DEBUG.hpp" # include "streams/DEBUG_FLOAT_ARRAY.hpp" @@ -1709,102 +1709,6 @@ protected: } }; -class MavlinkStreamADSBVehicle : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamADSBVehicle::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "ADSB_VEHICLE"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ADSB_VEHICLE; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamADSBVehicle(mavlink); - } - - bool const_rate() override - { - return true; - } - - unsigned get_size() override - { - return _pos_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _pos_sub{ORB_ID(transponder_report)}; - - /* do not allow top copying this class */ - MavlinkStreamADSBVehicle(MavlinkStreamADSBVehicle &) = delete; - MavlinkStreamADSBVehicle &operator = (const MavlinkStreamADSBVehicle &) = delete; - -protected: - explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - transponder_report_s pos; - bool sent = false; - - while ((_mavlink->get_free_tx_buf() >= get_size()) && _pos_sub.update(&pos)) { - - if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) { - continue; - } - - mavlink_adsb_vehicle_t msg{}; - msg.ICAO_address = pos.icao_address; - msg.lat = pos.lat * 1e7; - msg.lon = pos.lon * 1e7; - msg.altitude_type = pos.altitude_type; - msg.altitude = pos.altitude * 1e3f; - msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f; - msg.hor_velocity = pos.hor_velocity * 100.0f; - msg.ver_velocity = pos.ver_velocity * 100.0f; - memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign)); - msg.emitter_type = pos.emitter_type; - msg.tslc = pos.tslc; - msg.squawk = pos.squawk; - - msg.flags = 0; - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; } - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; } - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; } - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; } - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; } - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; } - - mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg); - sent = true; - } - - return sent; - } -}; - class MavlinkStreamCameraTrigger : public MavlinkStream { public: @@ -2118,7 +2022,9 @@ static const StreamListItem streams_list[] = { #if defined(ALTITUDE_HPP) create_stream_list_item(), #endif // ALTITUDE_HPP +#if defined(ADSB_VEHICLE_HPP) create_stream_list_item(), +#endif // ADSB_VEHICLE_HPP #if defined(UTM_GLOBAL_POSITION_HPP) create_stream_list_item(), #endif // UTM_GLOBAL_POSITION_HPP diff --git a/src/modules/mavlink/streams/ADSB_VEHICLE.hpp b/src/modules/mavlink/streams/ADSB_VEHICLE.hpp new file mode 100644 index 0000000000..56f2a94e42 --- /dev/null +++ b/src/modules/mavlink/streams/ADSB_VEHICLE.hpp @@ -0,0 +1,110 @@ +/**************************************************************************** + * + * 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 ADSB_VEHICLE_HPP +#define ADSB_VEHICLE_HPP + +#include + +class MavlinkStreamADSBVehicle : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamADSBVehicle(mavlink); } + + static constexpr const char *get_name_static() { return "ADSB_VEHICLE"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ADSB_VEHICLE; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + bool const_rate() override { return true; } + + unsigned get_size() override + { + return _transponder_report_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _transponder_report_sub{ORB_ID(transponder_report)}; + + bool send() override + { + bool sent = false; + + transponder_report_s pos; + + while ((_mavlink->get_free_tx_buf() >= get_size()) && _transponder_report_sub.update(&pos)) { + + if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) { + continue; + } + + mavlink_adsb_vehicle_t msg{}; + msg.ICAO_address = pos.icao_address; + msg.lat = pos.lat * 1e7; + msg.lon = pos.lon * 1e7; + msg.altitude_type = pos.altitude_type; + msg.altitude = pos.altitude * 1e3f; + msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f; + msg.hor_velocity = pos.hor_velocity * 100.0f; + msg.ver_velocity = pos.ver_velocity * 100.0f; + memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign)); + msg.emitter_type = pos.emitter_type; + msg.tslc = pos.tslc; + msg.squawk = pos.squawk; + + msg.flags = 0; + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; } + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; } + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; } + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; } + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; } + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; } + + mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg); + sent = true; + } + + return sent; + } +}; + +#endif // ADSB_VEHICLE_HPP