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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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mavlink: move SERVO_OUTPUT_RAW to separate stream header
This commit is contained in:
Daniel Agar
parent
5eef9358d9
commit
f7ee6b3c5e
@ -133,6 +133,7 @@ using matrix::wrap_2pi;
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#include "streams/RAW_RPM.hpp"
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#include "streams/RC_CHANNELS.hpp"
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#include "streams/SCALED_IMU.hpp"
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#include "streams/SERVO_OUTPUT_RAW.hpp"
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#include "streams/STATUSTEXT.hpp"
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#include "streams/STORAGE_INFORMATION.hpp"
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#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
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@ -3138,95 +3139,6 @@ protected:
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}
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};
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template <int N>
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class MavlinkStreamServoOutputRaw : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return MavlinkStreamServoOutputRaw<N>::get_name_static();
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}
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static constexpr uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
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}
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uint16_t get_id() override
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{
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return get_id_static();
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}
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static constexpr const char *get_name_static()
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{
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switch (N) {
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case 0:
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return "SERVO_OUTPUT_RAW_0";
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case 1:
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return "SERVO_OUTPUT_RAW_1";
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}
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new MavlinkStreamServoOutputRaw<N>(mavlink);
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}
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unsigned get_size() override
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{
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return _act_sub.advertised() ? MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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uORB::Subscription _act_sub{ORB_ID(actuator_outputs), N};
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/* do not allow top copying this class */
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MavlinkStreamServoOutputRaw(MavlinkStreamServoOutputRaw &) = delete;
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MavlinkStreamServoOutputRaw &operator = (const MavlinkStreamServoOutputRaw &) = delete;
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protected:
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explicit MavlinkStreamServoOutputRaw(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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actuator_outputs_s act;
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if (_act_sub.update(&act)) {
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mavlink_servo_output_raw_t msg{};
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static_assert(sizeof(act.output) / sizeof(act.output[0]) >= 16, "mavlink message requires at least 16 outputs");
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msg.time_usec = act.timestamp;
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msg.port = N;
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msg.servo1_raw = act.output[0];
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msg.servo2_raw = act.output[1];
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msg.servo3_raw = act.output[2];
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msg.servo4_raw = act.output[3];
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msg.servo5_raw = act.output[4];
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msg.servo6_raw = act.output[5];
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msg.servo7_raw = act.output[6];
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msg.servo8_raw = act.output[7];
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msg.servo9_raw = act.output[8];
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msg.servo10_raw = act.output[9];
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msg.servo11_raw = act.output[10];
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msg.servo12_raw = act.output[11];
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msg.servo13_raw = act.output[12];
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msg.servo14_raw = act.output[13];
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msg.servo15_raw = act.output[14];
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msg.servo16_raw = act.output[15];
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mavlink_msg_servo_output_raw_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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class MavlinkStreamCameraCapture : public MavlinkStream
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{
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public:
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@ -3347,8 +3259,10 @@ static const StreamListItem streams_list[] = {
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create_stream_list_item<MavlinkStreamGimbalDeviceSetAttitude>(),
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#endif
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create_stream_list_item<MavlinkStreamHomePosition>(),
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#if defined(SERVO_OUTPUT_RAW_HPP)
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create_stream_list_item<MavlinkStreamServoOutputRaw<0> >(),
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create_stream_list_item<MavlinkStreamServoOutputRaw<1> >(),
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#endif // SERVO_OUTPUT_RAW_HPP
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#if defined(HIL_ACTUATOR_CONTROLS_HPP)
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create_stream_list_item<MavlinkStreamHILActuatorControls>(),
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#endif // HIL_ACTUATOR_CONTROLS_HPP
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108
src/modules/mavlink/streams/SERVO_OUTPUT_RAW.hpp
Normal file
108
src/modules/mavlink/streams/SERVO_OUTPUT_RAW.hpp
Normal file
@ -0,0 +1,108 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 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 SERVO_OUTPUT_RAW_HPP
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#define SERVO_OUTPUT_RAW_HPP
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#include <uORB/topics/actuator_outputs.h>
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template <int N>
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class MavlinkStreamServoOutputRaw : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamServoOutputRaw<N>(mavlink); }
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static constexpr const char *get_name_static()
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{
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switch (N) {
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case 0:
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return "SERVO_OUTPUT_RAW_0";
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case 1:
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return "SERVO_OUTPUT_RAW_1";
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}
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}
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; }
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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 _act_sub.advertised() ? MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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explicit MavlinkStreamServoOutputRaw(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _act_sub{ORB_ID(actuator_outputs), N};
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bool send() override
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{
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actuator_outputs_s act;
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if (_act_sub.update(&act)) {
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mavlink_servo_output_raw_t msg{};
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static_assert(sizeof(act.output) / sizeof(act.output[0]) >= 16, "mavlink message requires at least 16 outputs");
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msg.time_usec = act.timestamp;
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msg.port = N;
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msg.servo1_raw = act.output[0];
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msg.servo2_raw = act.output[1];
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msg.servo3_raw = act.output[2];
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msg.servo4_raw = act.output[3];
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msg.servo5_raw = act.output[4];
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msg.servo6_raw = act.output[5];
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msg.servo7_raw = act.output[6];
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msg.servo8_raw = act.output[7];
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msg.servo9_raw = act.output[8];
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msg.servo10_raw = act.output[9];
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msg.servo11_raw = act.output[10];
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msg.servo12_raw = act.output[11];
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msg.servo13_raw = act.output[12];
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msg.servo14_raw = act.output[13];
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msg.servo15_raw = act.output[14];
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msg.servo16_raw = act.output[15];
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mavlink_msg_servo_output_raw_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // SERVO_OUTPUT_RAW_HPP
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