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7d56582915
The failure_detector_status bitmask in vehicle_status duplicates the separate FailureDetectorStatus topic. Remove it and read directly from the dedicated topic in failureDetectorCheck and HIGH_LATENCY2.
113 lines
6.1 KiB
C++
113 lines
6.1 KiB
C++
/****************************************************************************
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* Copyright (c) 2026 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate VehicleStatus v1 <--> v2
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#include <px4_msgs_old/msg/vehicle_status_v1.hpp>
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#include <px4_msgs_old/msg/vehicle_status_v2.hpp>
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class VehicleStatusV2Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleStatusV1;
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static_assert(MessageOlder::MESSAGE_VERSION == 1);
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using MessageNewer = px4_msgs_old::msg::VehicleStatusV2;
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static_assert(MessageNewer::MESSAGE_VERSION == 2);
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static constexpr const char* kTopic = "fmu/out/vehicle_status";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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// Set msg_newer from msg_older
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.armed_time = msg_older.armed_time;
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msg_newer.takeoff_time = msg_older.takeoff_time;
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msg_newer.arming_state = msg_older.arming_state;
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msg_newer.latest_arming_reason = msg_older.latest_arming_reason;
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msg_newer.latest_disarming_reason = msg_older.latest_disarming_reason;
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msg_newer.nav_state_timestamp = msg_older.nav_state_timestamp;
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msg_newer.nav_state_user_intention = msg_older.nav_state_user_intention;
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msg_newer.nav_state = msg_older.nav_state;
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msg_newer.executor_in_charge = msg_older.executor_in_charge;
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msg_newer.nav_state_display = msg_older.nav_state; // use nav_state since active mode executor's navigation state was not known before
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msg_newer.valid_nav_states_mask = msg_older.valid_nav_states_mask;
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msg_newer.can_set_nav_states_mask = msg_older.can_set_nav_states_mask;
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msg_newer.failure_detector_status = msg_older.failure_detector_status;
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msg_newer.hil_state = msg_older.hil_state;
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msg_newer.vehicle_type = msg_older.vehicle_type;
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msg_newer.failsafe = msg_older.failsafe;
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msg_newer.failsafe_and_user_took_over = msg_older.failsafe_and_user_took_over;
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msg_newer.failsafe_defer_state = msg_older.failsafe_defer_state;
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msg_newer.gcs_connection_lost = msg_older.gcs_connection_lost;
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msg_newer.gcs_connection_lost_counter = msg_older.gcs_connection_lost_counter;
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msg_newer.high_latency_data_link_lost = msg_older.high_latency_data_link_lost;
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msg_newer.is_vtol = msg_older.is_vtol;
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msg_newer.is_vtol_tailsitter = msg_older.is_vtol_tailsitter;
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msg_newer.in_transition_mode = msg_older.in_transition_mode;
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msg_newer.in_transition_to_fw = msg_older.in_transition_to_fw;
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msg_newer.system_type = msg_older.system_type;
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msg_newer.system_id = msg_older.system_id;
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msg_newer.component_id = msg_older.component_id;
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msg_newer.safety_button_available = msg_older.safety_button_available;
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msg_newer.safety_off = msg_older.safety_off;
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msg_newer.power_input_valid = msg_older.power_input_valid;
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msg_newer.usb_connected = msg_older.usb_connected;
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msg_newer.open_drone_id_system_present = msg_older.open_drone_id_system_present;
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msg_newer.open_drone_id_system_healthy = msg_older.open_drone_id_system_healthy;
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msg_newer.parachute_system_present = msg_older.parachute_system_present;
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msg_newer.parachute_system_healthy = msg_older.parachute_system_healthy;
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msg_newer.traffic_avoidance_system_present = false; // New field, default to false
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msg_newer.rc_calibration_in_progress = msg_older.rc_calibration_in_progress;
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msg_newer.calibration_enabled = msg_older.calibration_enabled;
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msg_newer.pre_flight_checks_pass = msg_older.pre_flight_checks_pass;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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// Set msg_older from msg_newer
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.armed_time = msg_newer.armed_time;
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msg_older.takeoff_time = msg_newer.takeoff_time;
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msg_older.arming_state = msg_newer.arming_state;
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msg_older.latest_arming_reason = msg_newer.latest_arming_reason;
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msg_older.latest_disarming_reason = msg_newer.latest_disarming_reason;
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msg_older.nav_state_timestamp = msg_newer.nav_state_timestamp;
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msg_older.nav_state_user_intention = msg_newer.nav_state_user_intention;
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msg_older.nav_state = msg_newer.nav_state;
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msg_older.executor_in_charge = msg_newer.executor_in_charge;
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// nav_state_display dropped (not in V1)
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msg_older.valid_nav_states_mask = msg_newer.valid_nav_states_mask;
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msg_older.can_set_nav_states_mask = msg_newer.can_set_nav_states_mask;
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msg_older.failure_detector_status = msg_newer.failure_detector_status;
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msg_older.hil_state = msg_newer.hil_state;
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msg_older.vehicle_type = msg_newer.vehicle_type;
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msg_older.failsafe = msg_newer.failsafe;
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msg_older.failsafe_and_user_took_over = msg_newer.failsafe_and_user_took_over;
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msg_older.failsafe_defer_state = msg_newer.failsafe_defer_state;
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msg_older.gcs_connection_lost = msg_newer.gcs_connection_lost;
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msg_older.gcs_connection_lost_counter = msg_newer.gcs_connection_lost_counter;
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msg_older.high_latency_data_link_lost = msg_newer.high_latency_data_link_lost;
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msg_older.is_vtol = msg_newer.is_vtol;
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msg_older.is_vtol_tailsitter = msg_newer.is_vtol_tailsitter;
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msg_older.in_transition_mode = msg_newer.in_transition_mode;
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msg_older.in_transition_to_fw = msg_newer.in_transition_to_fw;
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msg_older.system_type = msg_newer.system_type;
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msg_older.system_id = msg_newer.system_id;
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msg_older.component_id = msg_newer.component_id;
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msg_older.safety_button_available = msg_newer.safety_button_available;
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msg_older.safety_off = msg_newer.safety_off;
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msg_older.power_input_valid = msg_newer.power_input_valid;
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msg_older.usb_connected = msg_newer.usb_connected;
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msg_older.open_drone_id_system_present = msg_newer.open_drone_id_system_present;
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msg_older.open_drone_id_system_healthy = msg_newer.open_drone_id_system_healthy;
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msg_older.parachute_system_present = msg_newer.parachute_system_present;
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msg_older.parachute_system_healthy = msg_newer.parachute_system_healthy;
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// traffic_avoidance_system_present is dropped (not in V1)
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msg_older.rc_calibration_in_progress = msg_newer.rc_calibration_in_progress;
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msg_older.calibration_enabled = msg_newer.calibration_enabled;
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msg_older.pre_flight_checks_pass = msg_newer.pre_flight_checks_pass;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleStatusV2Translation);
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