diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 2afbc4a55f..db64da5c09 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -60,7 +60,6 @@ #include #include #include -#include #include #include #include @@ -107,6 +106,7 @@ using matrix::wrap_2pi; #include "streams/ATTITUDE_QUATERNION.hpp" #include "streams/ATTITUDE_TARGET.hpp" #include "streams/AUTOPILOT_VERSION.hpp" +#include "streams/CAMERA_IMAGE_CAPTURED.hpp" #include "streams/COLLISION.hpp" #include "streams/COMPONENT_INFORMATION.hpp" #include "streams/DISTANCE_SENSOR.hpp" @@ -2382,86 +2382,6 @@ protected: } }; -class MavlinkStreamCameraImageCaptured : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamCameraImageCaptured::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "CAMERA_IMAGE_CAPTURED"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - bool const_rate() override - { - return true; - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamCameraImageCaptured(mavlink); - } - - unsigned get_size() override - { - return _capture_sub.advertised() ? MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _capture_sub{ORB_ID(camera_capture)}; - - /* do not allow top copying this class */ - MavlinkStreamCameraImageCaptured(MavlinkStreamCameraImageCaptured &) = delete; - MavlinkStreamCameraImageCaptured &operator = (const MavlinkStreamCameraImageCaptured &) = delete; - -protected: - explicit MavlinkStreamCameraImageCaptured(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - camera_capture_s capture; - - if ((_mavlink->get_free_tx_buf() >= get_size()) && _capture_sub.update(&capture)) { - mavlink_camera_image_captured_t msg{}; - - msg.time_boot_ms = capture.timestamp / 1000; - msg.time_utc = capture.timestamp_utc; - msg.camera_id = 1; // FIXME : get this from uORB - msg.lat = capture.lat * 1e7; - msg.lon = capture.lon * 1e7; - msg.alt = capture.alt * 1e3f; - msg.relative_alt = capture.ground_distance * 1e3f; - msg.q[0] = capture.q[0]; - msg.q[1] = capture.q[1]; - msg.q[2] = capture.q[2]; - msg.q[3] = capture.q[3]; - msg.image_index = capture.seq; - msg.capture_result = capture.result; - msg.file_url[0] = '\0'; - - mavlink_msg_camera_image_captured_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamCameraCapture : public MavlinkStream { public: @@ -2645,7 +2565,9 @@ static const StreamListItem streams_list[] = { #endif // NAV_CONTROLLER_OUTPUT_HPP create_stream_list_item(), create_stream_list_item(), +#if defined(CAMERA_IMAGE_CAPTURED_HPP) create_stream_list_item(), +#endif // CAMERA_IMAGE_CAPTURED_HPP #if defined(DISTANCE_SENSOR_HPP) create_stream_list_item(), #endif // DISTANCE_SENSOR_HPP diff --git a/src/modules/mavlink/streams/CAMERA_IMAGE_CAPTURED.hpp b/src/modules/mavlink/streams/CAMERA_IMAGE_CAPTURED.hpp new file mode 100644 index 0000000000..fede0f3c27 --- /dev/null +++ b/src/modules/mavlink/streams/CAMERA_IMAGE_CAPTURED.hpp @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * 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 CAMERA_IMAGE_CAPTURED_HPP +#define CAMERA_IMAGE_CAPTURED_HPP + +#include + +class MavlinkStreamCameraImageCaptured : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCameraImageCaptured(mavlink); } + + static constexpr const char *get_name_static() { return "CAMERA_IMAGE_CAPTURED"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED; } + + 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 _capture_sub.advertised() ? MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamCameraImageCaptured(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _capture_sub{ORB_ID(camera_capture)}; + + bool send() override + { + camera_capture_s capture; + + if ((_mavlink->get_free_tx_buf() >= get_size()) && _capture_sub.update(&capture)) { + mavlink_camera_image_captured_t msg{}; + + msg.time_boot_ms = capture.timestamp / 1000; + msg.time_utc = capture.timestamp_utc; + msg.camera_id = 1; // FIXME : get this from uORB + msg.lat = capture.lat * 1e7; + msg.lon = capture.lon * 1e7; + msg.alt = capture.alt * 1e3f; + msg.relative_alt = capture.ground_distance * 1e3f; + msg.q[0] = capture.q[0]; + msg.q[1] = capture.q[1]; + msg.q[2] = capture.q[2]; + msg.q[3] = capture.q[3]; + msg.image_index = capture.seq; + msg.capture_result = capture.result; + msg.file_url[0] = '\0'; + + mavlink_msg_camera_image_captured_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // CAMERA_IMAGE_CAPTURED_HPP