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mavlink: move COMMAND_LONG to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent 801202f208
commit b955c41a63
2 changed files with 98 additions and 77 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -77
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@@ -104,6 +104,7 @@ using matrix::wrap_2pi;
#include "streams/BATTERY_STATUS.hpp"
#include "streams/CAMERA_IMAGE_CAPTURED.hpp"
#include "streams/COLLISION.hpp"
#include "streams/COMMAND_LONG.hpp"
#include "streams/COMPONENT_INFORMATION.hpp"
#include "streams/DISTANCE_SENSOR.hpp"
#include "streams/ESC_INFO.hpp"
@@ -483,83 +484,6 @@ protected:
}
};
class MavlinkStreamCommandLong : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamCommandLong::get_name_static();
}
static constexpr const char *get_name_static()
{
return "COMMAND_LONG";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_COMMAND_LONG;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamCommandLong(mavlink);
}
unsigned get_size() override
{
return 0; // commands stream is not regular and not predictable
}
private:
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
/* do not allow top copying this class */
MavlinkStreamCommandLong(MavlinkStreamCommandLong &) = delete;
MavlinkStreamCommandLong &operator = (const MavlinkStreamCommandLong &) = delete;
protected:
explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
bool sent = false;
while ((_mavlink->get_free_tx_buf() >= get_size()) && _vehicle_command_sub.updated()) {
const unsigned last_generation = _vehicle_command_sub.get_last_generation();
vehicle_command_s cmd;
if (_vehicle_command_sub.update(&cmd)) {
if (_vehicle_command_sub.get_last_generation() != last_generation + 1) {
PX4_ERR("COMMAND_LONG vehicle_command lost, generation %d -> %d", last_generation,
_vehicle_command_sub.get_last_generation());
}
if (!cmd.from_external && cmd.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) {
PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
sent = true;
} else {
PX4_DEBUG("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
}
}
}
MavlinkCommandSender::instance().check_timeout(_mavlink->get_channel());
return sent;
}
};
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
@@ -746,7 +670,9 @@ static const StreamListItem streams_list[] = {
#if defined(STATUSTEXT_HPP)
create_stream_list_item<MavlinkStreamStatustext>(),
#endif // STATUSTEXT_HPP
#if defined(COMMAND_LONG_HPP)
create_stream_list_item<MavlinkStreamCommandLong>(),
#endif // COMMAND_LONG_HPP
#if defined(SYSTEM_TIME_HPP)
create_stream_list_item<MavlinkStreamSysStatus>(),
#endif // SYSTEM_TIME_HPP