forked from Archive/PX4-Autopilot
mavlink: move DISTANCE_SENSOR to streams header
This commit is contained in:
Daniel Agar
parent
860a7fd1db
commit
29658961ef
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@ -110,6 +110,7 @@ using matrix::wrap_2pi;
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#include "streams/ALTITUDE.hpp"
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#include "streams/AUTOPILOT_VERSION.hpp"
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#include "streams/DISTANCE_SENSOR.hpp"
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#include "streams/ESC_INFO.hpp"
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#include "streams/ESC_STATUS.hpp"
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#include "streams/EXTENDED_SYS_STATE.hpp"
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@ -4374,97 +4375,6 @@ protected:
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}
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};
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class MavlinkStreamDistanceSensor : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return MavlinkStreamDistanceSensor::get_name_static();
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}
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static constexpr const char *get_name_static()
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{
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return "DISTANCE_SENSOR";
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}
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static constexpr uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_DISTANCE_SENSOR;
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}
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uint16_t get_id() override
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{
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return get_id_static();
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new MavlinkStreamDistanceSensor(mavlink);
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}
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unsigned get_size() override
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{
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return _distance_sensor_subs.advertised_count() * (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
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}
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private:
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uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
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/* do not allow top copying this class */
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MavlinkStreamDistanceSensor(MavlinkStreamDistanceSensor &) = delete;
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MavlinkStreamDistanceSensor &operator = (const MavlinkStreamDistanceSensor &) = delete;
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protected:
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explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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bool updated = false;
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for (int i = 0; i < _distance_sensor_subs.size(); i++) {
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distance_sensor_s dist_sensor;
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if (_distance_sensor_subs[i].update(&dist_sensor)) {
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mavlink_distance_sensor_t msg{};
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msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */
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switch (dist_sensor.type) {
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case MAV_DISTANCE_SENSOR_ULTRASOUND:
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msg.type = MAV_DISTANCE_SENSOR_ULTRASOUND;
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break;
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case MAV_DISTANCE_SENSOR_LASER:
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msg.type = MAV_DISTANCE_SENSOR_LASER;
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break;
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case MAV_DISTANCE_SENSOR_INFRARED:
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msg.type = MAV_DISTANCE_SENSOR_INFRARED;
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break;
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default:
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msg.type = MAV_DISTANCE_SENSOR_LASER;
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break;
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}
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msg.current_distance = dist_sensor.current_distance * 1e2f; // m to cm
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msg.id = i;
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msg.max_distance = dist_sensor.max_distance * 1e2f; // m to cm
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msg.min_distance = dist_sensor.min_distance * 1e2f; // m to cm
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msg.orientation = dist_sensor.orientation;
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msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2
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mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);
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updated = true;
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}
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}
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return updated;
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}
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};
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static const StreamListItem streams_list[] = {
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create_stream_list_item<MavlinkStreamHeartbeat>(),
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create_stream_list_item<MavlinkStreamStatustext>(),
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@ -4521,7 +4431,9 @@ static const StreamListItem streams_list[] = {
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create_stream_list_item<MavlinkStreamCameraCapture>(),
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create_stream_list_item<MavlinkStreamCameraTrigger>(),
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create_stream_list_item<MavlinkStreamCameraImageCaptured>(),
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#if defined(DISTANCE_SENSOR_HPP)
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create_stream_list_item<MavlinkStreamDistanceSensor>(),
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#endif // DISTANCE_SENSOR_HPP
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#if defined(EXTENDED_SYS_STATE_HPP)
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create_stream_list_item<MavlinkStreamExtendedSysState>(),
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#endif // EXTENDED_SYS_STATE_HPP
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@ -0,0 +1,108 @@
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/****************************************************************************
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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 DISTANCE_SENSOR_HPP
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#define DISTANCE_SENSOR_HPP
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#include <uORB/SubscriptionMultiArray.hpp>
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#include <uORB/topics/distance_sensor.h>
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class MavlinkStreamDistanceSensor : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDistanceSensor(mavlink); }
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static constexpr const char *get_name_static() { return "DISTANCE_SENSOR"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DISTANCE_SENSOR; }
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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 _distance_sensor_subs.advertised_count() * (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
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}
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private:
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explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
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bool send() override
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{
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bool updated = false;
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for (int i = 0; i < _distance_sensor_subs.size(); i++) {
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distance_sensor_s dist_sensor;
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if (_distance_sensor_subs[i].update(&dist_sensor)) {
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mavlink_distance_sensor_t msg{};
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msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */
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switch (dist_sensor.type) {
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case MAV_DISTANCE_SENSOR_ULTRASOUND:
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msg.type = MAV_DISTANCE_SENSOR_ULTRASOUND;
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break;
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case MAV_DISTANCE_SENSOR_LASER:
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msg.type = MAV_DISTANCE_SENSOR_LASER;
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break;
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case MAV_DISTANCE_SENSOR_INFRARED:
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msg.type = MAV_DISTANCE_SENSOR_INFRARED;
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break;
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default:
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msg.type = MAV_DISTANCE_SENSOR_LASER;
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break;
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}
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msg.current_distance = dist_sensor.current_distance * 1e2f; // m to cm
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msg.id = i;
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msg.max_distance = dist_sensor.max_distance * 1e2f; // m to cm
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msg.min_distance = dist_sensor.min_distance * 1e2f; // m to cm
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msg.orientation = dist_sensor.orientation;
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msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2
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mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);
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updated = true;
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}
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}
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return updated;
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}
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};
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#endif // DISTANCE_SENSOR
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