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82 lines
3.0 KiB
C++
82 lines
3.0 KiB
C++
/****************************************************************************
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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 GPS_RTCM_DATA_HPP
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#define GPS_RTCM_DATA_HPP
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#include <uORB/topics/gps_inject_data.h>
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class MavlinkStreamGPSRTCMData : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPSRTCMData(mavlink); }
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static constexpr const char *get_name_static() { return "GPS_RTCM_DATA"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS_RTCM_DATA; }
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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 _gps_inject_data_sub.advertised() ? (MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
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}
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private:
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explicit MavlinkStreamGPSRTCMData(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _gps_inject_data_sub{ORB_ID(gps_inject_data), 0};
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bool send() override
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{
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gps_inject_data_s gps_inject_data;
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bool sent = false;
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while ((_mavlink->get_free_tx_buf() >= get_size()) && _gps_inject_data_sub.update(&gps_inject_data)) {
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mavlink_gps_rtcm_data_t msg{};
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msg.len = gps_inject_data.len;
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msg.flags = gps_inject_data.flags;
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memcpy(msg.data, gps_inject_data.data, sizeof(msg.data));
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mavlink_msg_gps_rtcm_data_send_struct(_mavlink->get_channel(), &msg);
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sent = true;
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}
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return sent;
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}
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};
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#endif // GPS_RTCM_DATA_HPP
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