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86 lines
3.2 KiB
C++
86 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 COMPONENT_INFORMATION_HPP
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#define COMPONENT_INFORMATION_HPP
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#include "../mavlink_stream.h"
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#include <component_information/checksums.h>
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#include <px4_platform_common/defines.h>
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#include <sys/stat.h>
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class MavlinkStreamComponentInformation : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamComponentInformation(mavlink); }
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static constexpr const char *get_name_static() { return "COMPONENT_INFORMATION"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COMPONENT_INFORMATION; }
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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 0; // never streamed
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}
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bool request_message(float param2, float param3, float param4,
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float param5, float param6, float param7) override
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{
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mavlink_component_information_t component_info{};
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PX4_DEBUG("COMPONENT_INFORMATION request");
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strncpy(component_info.general_metadata_uri, "mftp://etc/extras/component_general.json.xz",
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sizeof(component_info.general_metadata_uri) - 1);
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component_info.general_metadata_file_crc = component_information::component_general_crc;
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component_info.time_boot_ms = hrt_absolute_time() / 1000;
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mavlink_msg_component_information_send_struct(_mavlink->get_channel(), &component_info);
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return true;
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}
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private:
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explicit MavlinkStreamComponentInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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bool send() override
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{
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return false;
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}
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};
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#endif // COMPONENT_INFORMATION_HPP
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