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drivers/uavcan: remove MAVLINK header dependency

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This commit is contained in:
Daniel Agar
2019-12-31 21:01:21 -05:00
parent 35073d093f
commit f7cf1ffc41
5 changed files with 43 additions and 18 deletions
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src/drivers/uavcan/uavcan_servers.cpp
+10 -12
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@@ -60,8 +60,6 @@
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/uavcan_parameter_request.h>
#include <v2.0/common/mavlink.h>
/**
* @file uavcan_servers.cpp
*
@@ -334,7 +332,7 @@ UavcanServers::run(pthread_addr_t)
* We know how many parameters are exposed by this node, so
* process the request.
*/
if (request.message_type == MAVLINK_MSG_ID_PARAM_REQUEST_READ) {
if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_READ) {
uavcan::protocol::param::GetSet::Request req;
if (request.param_index >= 0) {
@@ -354,7 +352,7 @@ UavcanServers::run(pthread_addr_t)
_param_index = request.param_index;
}
} else if (request.message_type == MAVLINK_MSG_ID_PARAM_SET) {
} else if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_SET) {
uavcan::protocol::param::GetSet::Request req;
if (request.param_index >= 0) {
@@ -364,10 +362,10 @@ UavcanServers::run(pthread_addr_t)
req.name = (char *)request.param_id;
}
if (request.param_type == MAV_PARAM_TYPE_REAL32) {
if (request.param_type == uavcan_parameter_request_s::PARAM_TYPE_REAL32) {
req.value.to<uavcan::protocol::param::Value::Tag::real_value>() = request.real_value;
} else if (request.param_type == MAV_PARAM_TYPE_UINT8) {
} else if (request.param_type == uavcan_parameter_request_s::PARAM_TYPE_UINT8) {
req.value.to<uavcan::protocol::param::Value::Tag::boolean_value>() = request.int_value;
} else {
@@ -387,7 +385,7 @@ UavcanServers::run(pthread_addr_t)
_param_index = request.param_index;
}
} else if (request.message_type == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {
} else if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_LIST) {
// This triggers the _param_list_in_progress case below.
_param_index = 0;
_param_list_in_progress = true;
@@ -397,8 +395,8 @@ UavcanServers::run(pthread_addr_t)
PX4_INFO("UAVCAN command bridge: starting component-specific param list");
}
} else if (request.node_id == MAV_COMP_ID_ALL) {
if (request.message_type == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {
} else if (request.node_id == uavcan_parameter_request_s::NODE_ID_ALL) {
if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_LIST) {
/*
* This triggers the _param_list_in_progress case below,
* but additionally iterates over all active nodes.
@@ -644,15 +642,15 @@ UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param
response.param_count = _param_counts[response.node_id];
if (param.value.is(uavcan::protocol::param::Value::Tag::integer_value)) {
response.param_type = MAV_PARAM_TYPE_INT64;
response.param_type = uavcan_parameter_request_s::PARAM_TYPE_INT64;
response.int_value = param.value.to<uavcan::protocol::param::Value::Tag::integer_value>();
} else if (param.value.is(uavcan::protocol::param::Value::Tag::real_value)) {
response.param_type = MAV_PARAM_TYPE_REAL32;
response.param_type = uavcan_parameter_request_s::PARAM_TYPE_REAL32;
response.real_value = param.value.to<uavcan::protocol::param::Value::Tag::real_value>();
} else if (param.value.is(uavcan::protocol::param::Value::Tag::boolean_value)) {
response.param_type = MAV_PARAM_TYPE_UINT8;
response.param_type = uavcan_parameter_request_s::PARAM_TYPE_UINT8;
response.int_value = param.value.to<uavcan::protocol::param::Value::Tag::boolean_value>();
}