fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 02:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink static streams_list array

Browse Source
This commit is contained in:
Daniel Agar
2018-04-03 18:37:51 -04:00
parent 450229c2a4
commit f145b65cbb
4 changed files with 90 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_main.cpp
+7 -9
View File
@@ -1393,17 +1393,15 @@ Mavlink::configure_stream(const char *stream_name, const float rate)
return OK; return OK;
} }
/* search for stream with specified name in supported streams list */ // search for stream with specified name in supported streams list
for (unsigned int i = 0; streams_list[i] != nullptr; i++) { // create new instance if found
stream = create_mavlink_stream(stream_name, this);
if (strcmp(stream_name, streams_list[i]->get_name()) == 0) { if (stream != nullptr) {
/* create new instance */ stream->set_interval(interval);
stream = streams_list[i]->new_instance(this); LL_APPEND(_streams, stream);
stream->set_interval(interval);
LL_APPEND(_streams, stream);
return OK; return OK;
}
} }
/* if we reach here, the stream list does not contain the stream */ /* if we reach here, the stream list does not contain the stream */
src/modules/mavlink/mavlink_messages.cpp
+77 -53
View File
@@ -100,7 +100,6 @@
#include <uORB/topics/sensor_gyro.h> #include <uORB/topics/sensor_gyro.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
static uint16_t cm_uint16_from_m_float(float m); static uint16_t cm_uint16_from_m_float(float m);
static void get_mavlink_mode_state(struct vehicle_status_s *status, uint8_t *mavlink_state, static void get_mavlink_mode_state(struct vehicle_status_s *status, uint8_t *mavlink_state,
uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode); uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
@@ -4233,56 +4232,81 @@ protected:
} }
}; };
const StreamListItem *streams_list[] = { static const StreamListItem streams_list[] = {
new StreamListItem(&MavlinkStreamHeartbeat::new_instance, &MavlinkStreamHeartbeat::get_name_static, &MavlinkStreamHeartbeat::get_id_static), StreamListItem(&MavlinkStreamHeartbeat::new_instance, &MavlinkStreamHeartbeat::get_name_static, &MavlinkStreamHeartbeat::get_id_static),
new StreamListItem(&MavlinkStreamStatustext::new_instance, &MavlinkStreamStatustext::get_name_static, &MavlinkStreamStatustext::get_id_static), StreamListItem(&MavlinkStreamStatustext::new_instance, &MavlinkStreamStatustext::get_name_static, &MavlinkStreamStatustext::get_id_static),
new StreamListItem(&MavlinkStreamCommandLong::new_instance, &MavlinkStreamCommandLong::get_name_static, &MavlinkStreamCommandLong::get_id_static), StreamListItem(&MavlinkStreamCommandLong::new_instance, &MavlinkStreamCommandLong::get_name_static, &MavlinkStreamCommandLong::get_id_static),
new StreamListItem(&MavlinkStreamSysStatus::new_instance, &MavlinkStreamSysStatus::get_name_static, &MavlinkStreamSysStatus::get_id_static), StreamListItem(&MavlinkStreamSysStatus::new_instance, &MavlinkStreamSysStatus::get_name_static, &MavlinkStreamSysStatus::get_id_static),
new StreamListItem(&MavlinkStreamHighresIMU::new_instance, &MavlinkStreamHighresIMU::get_name_static, &MavlinkStreamHighresIMU::get_id_static), StreamListItem(&MavlinkStreamHighresIMU::new_instance, &MavlinkStreamHighresIMU::get_name_static, &MavlinkStreamHighresIMU::get_id_static),
new StreamListItem(&MavlinkStreamScaledIMU::new_instance, &MavlinkStreamScaledIMU::get_name_static, &MavlinkStreamScaledIMU::get_id_static), StreamListItem(&MavlinkStreamScaledIMU::new_instance, &MavlinkStreamScaledIMU::get_name_static, &MavlinkStreamScaledIMU::get_id_static),
new StreamListItem(&MavlinkStreamAttitude::new_instance, &MavlinkStreamAttitude::get_name_static, &MavlinkStreamAttitude::get_id_static), StreamListItem(&MavlinkStreamAttitude::new_instance, &MavlinkStreamAttitude::get_name_static, &MavlinkStreamAttitude::get_id_static),
new StreamListItem(&MavlinkStreamAttitudeQuaternion::new_instance, &MavlinkStreamAttitudeQuaternion::get_name_static, &MavlinkStreamAttitudeQuaternion::get_id_static), StreamListItem(&MavlinkStreamAttitudeQuaternion::new_instance, &MavlinkStreamAttitudeQuaternion::get_name_static, &MavlinkStreamAttitudeQuaternion::get_id_static),
new StreamListItem(&MavlinkStreamVFRHUD::new_instance, &MavlinkStreamVFRHUD::get_name_static, &MavlinkStreamVFRHUD::get_id_static), StreamListItem(&MavlinkStreamVFRHUD::new_instance, &MavlinkStreamVFRHUD::get_name_static, &MavlinkStreamVFRHUD::get_id_static),
new StreamListItem(&MavlinkStreamGPSRawInt::new_instance, &MavlinkStreamGPSRawInt::get_name_static, &MavlinkStreamGPSRawInt::get_id_static), StreamListItem(&MavlinkStreamGPSRawInt::new_instance, &MavlinkStreamGPSRawInt::get_name_static, &MavlinkStreamGPSRawInt::get_id_static),
new StreamListItem(&MavlinkStreamSystemTime::new_instance, &MavlinkStreamSystemTime::get_name_static, &MavlinkStreamSystemTime::get_id_static), StreamListItem(&MavlinkStreamSystemTime::new_instance, &MavlinkStreamSystemTime::get_name_static, &MavlinkStreamSystemTime::get_id_static),
new StreamListItem(&MavlinkStreamTimesync::new_instance, &MavlinkStreamTimesync::get_name_static, &MavlinkStreamTimesync::get_id_static), StreamListItem(&MavlinkStreamTimesync::new_instance, &MavlinkStreamTimesync::get_name_static, &MavlinkStreamTimesync::get_id_static),
new StreamListItem(&MavlinkStreamGlobalPositionInt::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static, &MavlinkStreamGlobalPositionInt::get_id_static), StreamListItem(&MavlinkStreamGlobalPositionInt::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static, &MavlinkStreamGlobalPositionInt::get_id_static),
new StreamListItem(&MavlinkStreamLocalPositionNED::new_instance, &MavlinkStreamLocalPositionNED::get_name_static, &MavlinkStreamLocalPositionNED::get_id_static), StreamListItem(&MavlinkStreamLocalPositionNED::new_instance, &MavlinkStreamLocalPositionNED::get_name_static, &MavlinkStreamLocalPositionNED::get_id_static),
new StreamListItem(&MavlinkStreamVisionPositionEstimate::new_instance, &MavlinkStreamVisionPositionEstimate::get_name_static, &MavlinkStreamVisionPositionEstimate::get_id_static), StreamListItem(&MavlinkStreamVisionPositionEstimate::new_instance, &MavlinkStreamVisionPositionEstimate::get_name_static, &MavlinkStreamVisionPositionEstimate::get_id_static),
new StreamListItem(&MavlinkStreamLocalPositionNEDCOV::new_instance, &MavlinkStreamLocalPositionNEDCOV::get_name_static, &MavlinkStreamLocalPositionNEDCOV::get_id_static), StreamListItem(&MavlinkStreamLocalPositionNEDCOV::new_instance, &MavlinkStreamLocalPositionNEDCOV::get_name_static, &MavlinkStreamLocalPositionNEDCOV::get_id_static),
new StreamListItem(&MavlinkStreamEstimatorStatus::new_instance, &MavlinkStreamEstimatorStatus::get_name_static, &MavlinkStreamEstimatorStatus::get_id_static), StreamListItem(&MavlinkStreamEstimatorStatus::new_instance, &MavlinkStreamEstimatorStatus::get_name_static, &MavlinkStreamEstimatorStatus::get_id_static),
new StreamListItem(&MavlinkStreamAttPosMocap::new_instance, &MavlinkStreamAttPosMocap::get_name_static, &MavlinkStreamAttPosMocap::get_id_static), StreamListItem(&MavlinkStreamAttPosMocap::new_instance, &MavlinkStreamAttPosMocap::get_name_static, &MavlinkStreamAttPosMocap::get_id_static),
new StreamListItem(&MavlinkStreamHomePosition::new_instance, &MavlinkStreamHomePosition::get_name_static, &MavlinkStreamHomePosition::get_id_static), StreamListItem(&MavlinkStreamHomePosition::new_instance, &MavlinkStreamHomePosition::get_name_static, &MavlinkStreamHomePosition::get_id_static),
new StreamListItem(&MavlinkStreamServoOutputRaw<0>::new_instance, &MavlinkStreamServoOutputRaw<0>::get_name_static, &MavlinkStreamServoOutputRaw<0>::get_id_static), StreamListItem(&MavlinkStreamServoOutputRaw<0>::new_instance, &MavlinkStreamServoOutputRaw<0>::get_name_static, &MavlinkStreamServoOutputRaw<0>::get_id_static),
new StreamListItem(&MavlinkStreamServoOutputRaw<1>::new_instance, &MavlinkStreamServoOutputRaw<1>::get_name_static, &MavlinkStreamServoOutputRaw<1>::get_id_static), StreamListItem(&MavlinkStreamServoOutputRaw<1>::new_instance, &MavlinkStreamServoOutputRaw<1>::get_name_static, &MavlinkStreamServoOutputRaw<1>::get_id_static),
new StreamListItem(&MavlinkStreamServoOutputRaw<2>::new_instance, &MavlinkStreamServoOutputRaw<2>::get_name_static, &MavlinkStreamServoOutputRaw<2>::get_id_static), StreamListItem(&MavlinkStreamServoOutputRaw<2>::new_instance, &MavlinkStreamServoOutputRaw<2>::get_name_static, &MavlinkStreamServoOutputRaw<2>::get_id_static),
new StreamListItem(&MavlinkStreamServoOutputRaw<3>::new_instance, &MavlinkStreamServoOutputRaw<3>::get_name_static, &MavlinkStreamServoOutputRaw<3>::get_id_static), StreamListItem(&MavlinkStreamServoOutputRaw<3>::new_instance, &MavlinkStreamServoOutputRaw<3>::get_name_static, &MavlinkStreamServoOutputRaw<3>::get_id_static),
new StreamListItem(&MavlinkStreamHILActuatorControls::new_instance, &MavlinkStreamHILActuatorControls::get_name_static, &MavlinkStreamHILActuatorControls::get_id_static), StreamListItem(&MavlinkStreamHILActuatorControls::new_instance, &MavlinkStreamHILActuatorControls::get_name_static, &MavlinkStreamHILActuatorControls::get_id_static),
new StreamListItem(&MavlinkStreamPositionTargetGlobalInt::new_instance, &MavlinkStreamPositionTargetGlobalInt::get_name_static, &MavlinkStreamPositionTargetGlobalInt::get_id_static), StreamListItem(&MavlinkStreamPositionTargetGlobalInt::new_instance, &MavlinkStreamPositionTargetGlobalInt::get_name_static, &MavlinkStreamPositionTargetGlobalInt::get_id_static),
new StreamListItem(&MavlinkStreamLocalPositionSetpoint::new_instance, &MavlinkStreamLocalPositionSetpoint::get_name_static, &MavlinkStreamLocalPositionSetpoint::get_id_static), StreamListItem(&MavlinkStreamLocalPositionSetpoint::new_instance, &MavlinkStreamLocalPositionSetpoint::get_name_static, &MavlinkStreamLocalPositionSetpoint::get_id_static),
new StreamListItem(&MavlinkStreamAttitudeTarget::new_instance, &MavlinkStreamAttitudeTarget::get_name_static, &MavlinkStreamAttitudeTarget::get_id_static), StreamListItem(&MavlinkStreamAttitudeTarget::new_instance, &MavlinkStreamAttitudeTarget::get_name_static, &MavlinkStreamAttitudeTarget::get_id_static),
new StreamListItem(&MavlinkStreamRCChannels::new_instance, &MavlinkStreamRCChannels::get_name_static, &MavlinkStreamRCChannels::get_id_static), StreamListItem(&MavlinkStreamRCChannels::new_instance, &MavlinkStreamRCChannels::get_name_static, &MavlinkStreamRCChannels::get_id_static),
new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static, &MavlinkStreamManualControl::get_id_static), StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static, &MavlinkStreamManualControl::get_id_static),
new StreamListItem(&MavlinkStreamOpticalFlowRad::new_instance, &MavlinkStreamOpticalFlowRad::get_name_static, &MavlinkStreamOpticalFlowRad::get_id_static), StreamListItem(&MavlinkStreamOpticalFlowRad::new_instance, &MavlinkStreamOpticalFlowRad::get_name_static, &MavlinkStreamOpticalFlowRad::get_id_static),
new StreamListItem(&MavlinkStreamActuatorControlTarget<0>::new_instance, &MavlinkStreamActuatorControlTarget<0>::get_name_static, &MavlinkStreamActuatorControlTarget<0>::get_id_static), StreamListItem(&MavlinkStreamActuatorControlTarget<0>::new_instance, &MavlinkStreamActuatorControlTarget<0>::get_name_static, &MavlinkStreamActuatorControlTarget<0>::get_id_static),
new StreamListItem(&MavlinkStreamActuatorControlTarget<1>::new_instance, &MavlinkStreamActuatorControlTarget<1>::get_name_static, &MavlinkStreamActuatorControlTarget<1>::get_id_static), StreamListItem(&MavlinkStreamActuatorControlTarget<1>::new_instance, &MavlinkStreamActuatorControlTarget<1>::get_name_static, &MavlinkStreamActuatorControlTarget<1>::get_id_static),
new StreamListItem(&MavlinkStreamActuatorControlTarget<2>::new_instance, &MavlinkStreamActuatorControlTarget<2>::get_name_static, &MavlinkStreamActuatorControlTarget<2>::get_id_static), StreamListItem(&MavlinkStreamActuatorControlTarget<2>::new_instance, &MavlinkStreamActuatorControlTarget<2>::get_name_static, &MavlinkStreamActuatorControlTarget<2>::get_id_static),
new StreamListItem(&MavlinkStreamActuatorControlTarget<3>::new_instance, &MavlinkStreamActuatorControlTarget<3>::get_name_static, &MavlinkStreamActuatorControlTarget<3>::get_id_static), StreamListItem(&MavlinkStreamActuatorControlTarget<3>::new_instance, &MavlinkStreamActuatorControlTarget<3>::get_name_static, &MavlinkStreamActuatorControlTarget<3>::get_id_static),
new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static, &MavlinkStreamNamedValueFloat::get_id_static), StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static, &MavlinkStreamNamedValueFloat::get_id_static),
new StreamListItem(&MavlinkStreamDebug::new_instance, &MavlinkStreamDebug::get_name_static, &MavlinkStreamDebug::get_id_static), StreamListItem(&MavlinkStreamDebug::new_instance, &MavlinkStreamDebug::get_name_static, &MavlinkStreamDebug::get_id_static),
new StreamListItem(&MavlinkStreamDebugVect::new_instance, &MavlinkStreamDebugVect::get_name_static, &MavlinkStreamDebugVect::get_id_static), StreamListItem(&MavlinkStreamDebugVect::new_instance, &MavlinkStreamDebugVect::get_name_static, &MavlinkStreamDebugVect::get_id_static),
new StreamListItem(&MavlinkStreamNavControllerOutput::new_instance, &MavlinkStreamNavControllerOutput::get_name_static, &MavlinkStreamNavControllerOutput::get_id_static), StreamListItem(&MavlinkStreamNavControllerOutput::new_instance, &MavlinkStreamNavControllerOutput::get_name_static, &MavlinkStreamNavControllerOutput::get_id_static),
new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static, &MavlinkStreamCameraCapture::get_id_static), StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static, &MavlinkStreamCameraCapture::get_id_static),
new StreamListItem(&MavlinkStreamCameraTrigger::new_instance, &MavlinkStreamCameraTrigger::get_name_static, &MavlinkStreamCameraTrigger::get_id_static), StreamListItem(&MavlinkStreamCameraTrigger::new_instance, &MavlinkStreamCameraTrigger::get_name_static, &MavlinkStreamCameraTrigger::get_id_static),
new StreamListItem(&MavlinkStreamCameraImageCaptured::new_instance, &MavlinkStreamCameraImageCaptured::get_name_static, &MavlinkStreamCameraImageCaptured::get_id_static), StreamListItem(&MavlinkStreamCameraImageCaptured::new_instance, &MavlinkStreamCameraImageCaptured::get_name_static, &MavlinkStreamCameraImageCaptured::get_id_static),
new StreamListItem(&MavlinkStreamDistanceSensor::new_instance, &MavlinkStreamDistanceSensor::get_name_static, &MavlinkStreamDistanceSensor::get_id_static), StreamListItem(&MavlinkStreamDistanceSensor::new_instance, &MavlinkStreamDistanceSensor::get_name_static, &MavlinkStreamDistanceSensor::get_id_static),
new StreamListItem(&MavlinkStreamExtendedSysState::new_instance, &MavlinkStreamExtendedSysState::get_name_static, &MavlinkStreamExtendedSysState::get_id_static), StreamListItem(&MavlinkStreamExtendedSysState::new_instance, &MavlinkStreamExtendedSysState::get_name_static, &MavlinkStreamExtendedSysState::get_id_static),
new StreamListItem(&MavlinkStreamAltitude::new_instance, &MavlinkStreamAltitude::get_name_static, &MavlinkStreamAltitude::get_id_static), StreamListItem(&MavlinkStreamAltitude::new_instance, &MavlinkStreamAltitude::get_name_static, &MavlinkStreamAltitude::get_id_static),
new StreamListItem(&MavlinkStreamADSBVehicle::new_instance, &MavlinkStreamADSBVehicle::get_name_static, &MavlinkStreamADSBVehicle::get_id_static), StreamListItem(&MavlinkStreamADSBVehicle::new_instance, &MavlinkStreamADSBVehicle::get_name_static, &MavlinkStreamADSBVehicle::get_id_static),
new StreamListItem(&MavlinkStreamCollision::new_instance, &MavlinkStreamCollision::get_name_static, &MavlinkStreamCollision::get_id_static), StreamListItem(&MavlinkStreamCollision::new_instance, &MavlinkStreamCollision::get_name_static, &MavlinkStreamCollision::get_id_static),
new StreamListItem(&MavlinkStreamWind::new_instance, &MavlinkStreamWind::get_name_static, &MavlinkStreamWind::get_id_static), StreamListItem(&MavlinkStreamWind::new_instance, &MavlinkStreamWind::get_name_static, &MavlinkStreamWind::get_id_static),
new StreamListItem(&MavlinkStreamMountOrientation::new_instance, &MavlinkStreamMountOrientation::get_name_static, &MavlinkStreamMountOrientation::get_id_static), StreamListItem(&MavlinkStreamMountOrientation::new_instance, &MavlinkStreamMountOrientation::get_name_static, &MavlinkStreamMountOrientation::get_id_static),
new StreamListItem(&MavlinkStreamHighLatency::new_instance, &MavlinkStreamHighLatency::get_name_static, &MavlinkStreamWind::get_id_static), StreamListItem(&MavlinkStreamHighLatency::new_instance, &MavlinkStreamHighLatency::get_name_static, &MavlinkStreamWind::get_id_static),
new StreamListItem(&MavlinkStreamGroundTruth::new_instance, &MavlinkStreamGroundTruth::get_name_static, &MavlinkStreamGroundTruth::get_id_static), StreamListItem(&MavlinkStreamGroundTruth::new_instance, &MavlinkStreamGroundTruth::get_name_static, &MavlinkStreamGroundTruth::get_id_static)
nullptr
}; };
const char *get_stream_name(const uint16_t msg_id)
{
// search for stream with specified msg id in supported streams list
for (const auto &stream : streams_list) {
if (msg_id == stream.get_id()) {
return stream.get_name();
}
}
return nullptr;
}
MavlinkStream *create_mavlink_stream(const char *stream_name, Mavlink *mavlink)
{
// search for stream with specified name in supported streams list
if (stream_name != nullptr) {
for (const auto &stream : streams_list) {
if (strcmp(stream_name, stream.get_name()) == 0) {
return stream.new_instance(mavlink);
}
}
}
return nullptr;
}
src/modules/mavlink/mavlink_messages.h
+2 -2
View File
@@ -56,9 +56,9 @@ public:
get_name(name), get_name(name),
get_id(id) {} get_id(id) {}
~StreamListItem() {}
}; };
extern const StreamListItem *streams_list[]; const char *get_stream_name(const uint16_t msg_id);
MavlinkStream *create_mavlink_stream(const char *stream_name, Mavlink *mavlink);
#endif /* MAVLINK_MESSAGES_H_ */ #endif /* MAVLINK_MESSAGES_H_ */
src/modules/mavlink/mavlink_receiver.cpp
+4 -7
View File
@@ -1759,14 +1759,11 @@ MavlinkReceiver::set_message_interval(int msgId, float interval, int data_rate)
// The interval between two messages is in microseconds. // The interval between two messages is in microseconds.
// Set to -1 to disable and 0 to request default rate // Set to -1 to disable and 0 to request default rate
if (msgId != 0) { if (msgId != 0) {
for (unsigned int i = 0; streams_list[i] != nullptr; i++) { const char *stream_name = get_stream_name(msgId);
const StreamListItem *item = streams_list[i];
if (msgId == item->get_id()) { if (stream_name != nullptr) {
_mavlink->configure_stream_threadsafe(item->get_name(), rate); _mavlink->configure_stream_threadsafe(stream_name, rate);
found_id = true; found_id = true;
break;
}
} }
} }