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84 lines
3.1 KiB
C++
84 lines
3.1 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 ORBIT_EXECUTION_STATUS_HPP
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#define ORBIT_EXECUTION_STATUS_HPP
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#include <uORB/topics/orbit_status.h>
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class MavlinkStreamOrbitStatus : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOrbitStatus(mavlink); }
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static constexpr const char *get_name_static() { return "ORBIT_EXECUTION_STATUS"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS; }
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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 _orbit_status_sub.advertised() ? MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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explicit MavlinkStreamOrbitStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _orbit_status_sub{ORB_ID(orbit_status)};
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bool send() override
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{
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orbit_status_s orbit_status;
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if (_orbit_status_sub.update(&orbit_status)) {
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mavlink_orbit_execution_status_t msg{};
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msg.time_usec = orbit_status.timestamp;
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msg.radius = orbit_status.radius;
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msg.frame = orbit_status.frame;
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msg.x = orbit_status.x * 1e7;
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msg.y = orbit_status.y * 1e7;
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msg.z = orbit_status.z;
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mavlink_msg_orbit_execution_status_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 // ORBIT_EXECUTION_STATUS_HPP
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