PX4-Autopilot/src/modules/gimbal/input_mavlink.h

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#pragma once

#include "input.h"
#include "input_rc.h"
#include <cstdint>

#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/gimbal_device_attitude_status.h>
#include <uORB/topics/gimbal_device_information.h>
#include <uORB/topics/gimbal_manager_information.h>
#include <uORB/topics/gimbal_manager_status.h>
#include <uORB/topics/gimbal_manager_set_attitude.h>
#include <uORB/topics/gimbal_manager_set_manual_control.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_roi.h>
#include <lib/geo/geo.h>


namespace gimbal
{

class InputMavlinkROI : public InputBase
{
public:
	InputMavlinkROI() = delete;
	explicit InputMavlinkROI(Parameters &parameters);
	virtual ~InputMavlinkROI();

	void print_status() const override;
	UpdateResult update(unsigned int timeout_ms, ControlData &control_data, bool already_active) override;
	int initialize() override;

private:
	void _read_control_data_from_position_setpoint_sub(ControlData &control_data);

	int _vehicle_roi_sub = -1;
	int _position_setpoint_triplet_sub = -1;
	uint8_t _cur_roi_mode {vehicle_roi_s::ROI_NONE};
};


class InputMavlinkCmdMount : public InputBase
{
public:
	InputMavlinkCmdMount() = delete;
	explicit InputMavlinkCmdMount(Parameters &parameters);
	virtual ~InputMavlinkCmdMount();

	void print_status() const override;
	UpdateResult update(unsigned int timeout_ms, ControlData &control_data, bool already_active) override;
	int initialize() override;

private:
	UpdateResult _process_command(ControlData &control_data, const vehicle_command_s &vehicle_command);
	void _ack_vehicle_command(const vehicle_command_s &cmd);

	int _vehicle_command_sub = -1;
};

class InputMavlinkGimbalV2 : public InputBase
{
public:
	InputMavlinkGimbalV2() = delete;
	explicit InputMavlinkGimbalV2(Parameters &parameters);
	virtual ~InputMavlinkGimbalV2();

	UpdateResult update(unsigned int timeout_ms, ControlData &control_data, bool already_active) override;
	int initialize() override;
	void print_status() const override;

private:
	UpdateResult _process_set_attitude(ControlData &control_data, const gimbal_manager_set_attitude_s &set_attitude);
	UpdateResult _process_vehicle_roi(ControlData &control_data, const vehicle_roi_s &vehicle_roi);
	UpdateResult _process_position_setpoint_triplet(ControlData &control_data,
			const position_setpoint_triplet_s &position_setpoint_triplet);
	UpdateResult _process_command(ControlData &control_data, const vehicle_command_s &vehicle_command);
	UpdateResult _process_set_manual_control(ControlData &control_data,
			const gimbal_manager_set_manual_control_s &set_manual_control);
	void _set_control_data_from_set_attitude(ControlData &control_data, const uint32_t flags, const matrix::Quatf &q,
			const matrix::Vector3f &angular_velocity, const uint64_t timestamp);
	void _ack_vehicle_command(const vehicle_command_s &cmd, uint8_t result);
	void _stream_gimbal_manager_information(const ControlData &control_data);
	void _stream_gimbal_manager_status(const ControlData &control_data);
	void _read_control_data_from_position_setpoint_sub(ControlData &control_data);

	int _vehicle_roi_sub = -1;
	int _gimbal_manager_set_attitude_sub = -1;
	int _gimbal_manager_set_manual_control_sub = -1;
	int _position_setpoint_triplet_sub = -1;
	int _vehicle_command_sub = -1;

	uORB::Subscription _gimbal_device_attitude_status_sub{ORB_ID(gimbal_device_attitude_status)};
	uORB::Subscription _gimbal_device_information_sub{ORB_ID(gimbal_device_information)};
	uORB::Publication<gimbal_manager_information_s> _gimbal_manager_info_pub{ORB_ID(gimbal_manager_information)};
	uORB::Publication<gimbal_manager_status_s> _gimbal_manager_status_pub{ORB_ID(gimbal_manager_status)};
	uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE;

	uint8_t _last_device_compid = 0;
};

} /* namespace gimbal */