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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Remove unused collision_report message
This commit is contained in:
Matthias Grob
Daniel Agar
parent
84ba95b496
commit
b5d18c6131
@ -61,7 +61,6 @@ set(msg_files
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CanInterfaceStatus.msg
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CellularStatus.msg
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CollisionConstraints.msg
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CollisionReport.msg
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ConfigOverrides.msg
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ControlAllocatorStatus.msg
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Cpuload.msg
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@ -1,8 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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uint8 src
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uint32 id
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uint8 action
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uint8 threat_level
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float32 time_to_minimum_delta
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float32 altitude_minimum_delta
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float32 horizontal_minimum_delta
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@ -65,7 +65,6 @@
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#include "streams/BATTERY_STATUS.hpp"
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#include "streams/CAMERA_IMAGE_CAPTURED.hpp"
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#include "streams/CAMERA_TRIGGER.hpp"
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#include "streams/COLLISION.hpp"
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#include "streams/COMMAND_LONG.hpp"
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#include "streams/COMPONENT_INFORMATION.hpp"
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#include "streams/COMPONENT_METADATA.hpp"
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@ -224,10 +224,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
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handle_message_adsb_vehicle(msg);
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break;
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case MAVLINK_MSG_ID_COLLISION:
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handle_message_collision(msg);
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break;
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case MAVLINK_MSG_ID_GPS_RTCM_DATA:
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handle_message_gps_rtcm_data(msg);
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break;
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@ -2628,26 +2624,6 @@ MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
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_transponder_report_pub.publish(t);
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}
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void
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MavlinkReceiver::handle_message_collision(mavlink_message_t *msg)
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{
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mavlink_collision_t collision;
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mavlink_msg_collision_decode(msg, &collision);
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collision_report_s collision_report{};
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collision_report.timestamp = hrt_absolute_time();
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collision_report.src = collision.src;
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collision_report.id = collision.id;
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collision_report.action = collision.action;
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collision_report.threat_level = collision.threat_level;
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collision_report.time_to_minimum_delta = collision.time_to_minimum_delta;
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collision_report.altitude_minimum_delta = collision.altitude_minimum_delta;
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collision_report.horizontal_minimum_delta = collision.horizontal_minimum_delta;
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_collision_report_pub.publish(collision_report);
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}
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void
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MavlinkReceiver::handle_message_gps_rtcm_data(mavlink_message_t *msg)
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{
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@ -67,7 +67,6 @@
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/camera_status.h>
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#include <uORB/topics/cellular_status.h>
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#include <uORB/topics/collision_report.h>
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/distance_sensor.h>
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#include <uORB/topics/follow_target.h>
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@ -302,7 +301,6 @@ private:
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uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
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uORB::Publication<camera_status_s> _camera_status_pub{ORB_ID(camera_status)};
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uORB::Publication<cellular_status_s> _cellular_status_pub{ORB_ID(cellular_status)};
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uORB::Publication<collision_report_s> _collision_report_pub{ORB_ID(collision_report)};
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uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
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uORB::Publication<follow_target_s> _follow_target_pub{ORB_ID(follow_target)};
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uORB::Publication<gimbal_manager_set_attitude_s> _gimbal_manager_set_attitude_pub{ORB_ID(gimbal_manager_set_attitude)};
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@ -1,84 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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 COLLISION_HPP
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#define COLLISION_HPP
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#include <uORB/topics/collision_report.h>
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class MavlinkStreamCollision : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCollision(mavlink); }
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static constexpr const char *get_name_static() { return "COLLISION"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COLLISION; }
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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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unsigned get_size() override
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{
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return _collision_sub.advertised() ? MAVLINK_MSG_ID_COLLISION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _collision_sub{ORB_ID(collision_report)};
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bool send() override
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{
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collision_report_s report;
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bool sent = false;
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while ((_mavlink->get_free_tx_buf() >= get_size()) && _collision_sub.update(&report)) {
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mavlink_collision_t msg = {};
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msg.src = report.src;
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msg.id = report.id;
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msg.action = report.action;
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msg.threat_level = report.threat_level;
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msg.time_to_minimum_delta = report.time_to_minimum_delta;
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msg.altitude_minimum_delta = report.altitude_minimum_delta;
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msg.horizontal_minimum_delta = report.horizontal_minimum_delta;
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mavlink_msg_collision_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 // COLLISION_HPP
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@ -97,10 +97,6 @@ menu "Zenoh publishers/subscribers"
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bool "collision_constraints"
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default n
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config ZENOH_PUBSUB_COLLISION_REPORT
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bool "collision_report"
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default n
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config ZENOH_PUBSUB_CONFIG_OVERRIDES
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bool "config_overrides"
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default n
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