mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-05 09:30:34 +08:00
Daniel Agar
96 lines
3.7 KiB
C++
96 lines
3.7 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 COMMAND_LONG_HPP
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#define COMMAND_LONG_HPP
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#include <uORB/topics/vehicle_command.h>
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class MavlinkStreamCommandLong : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCommandLong(mavlink); }
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static constexpr const char *get_name_static() { return "COMMAND_LONG"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COMMAND_LONG; }
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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; // commands stream is not regular and not predictable
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}
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private:
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explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
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bool send() override
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{
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bool sent = false;
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static constexpr size_t COMMAND_LONG_SIZE = MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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while ((_mavlink->get_free_tx_buf() >= COMMAND_LONG_SIZE) && _vehicle_command_sub.updated()) {
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const unsigned last_generation = _vehicle_command_sub.get_last_generation();
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vehicle_command_s cmd;
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if (_vehicle_command_sub.update(&cmd)) {
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if (_vehicle_command_sub.get_last_generation() != last_generation + 1) {
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PX4_ERR("COMMAND_LONG vehicle_command lost, generation %d -> %d", last_generation,
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_vehicle_command_sub.get_last_generation());
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}
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if (!cmd.from_external && cmd.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) {
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PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
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MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
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sent = true;
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} else {
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PX4_DEBUG("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
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}
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}
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}
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MavlinkCommandSender::instance().check_timeout(_mavlink->get_channel());
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return sent;
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}
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};
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#endif // COMMAND_LONG_HPP
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