From 29658961ef27e0fc0b027d1321b8d711602bfe9e Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 12 Nov 2020 13:27:22 -0500 Subject: [PATCH] mavlink: move DISTANCE_SENSOR to streams header --- src/modules/mavlink/mavlink_messages.cpp | 94 +-------------- .../mavlink/streams/DISTANCE_SENSOR.hpp | 108 ++++++++++++++++++ 2 files changed, 111 insertions(+), 91 deletions(-) create mode 100644 src/modules/mavlink/streams/DISTANCE_SENSOR.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 47bee146cb..3a17f5a43c 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -110,6 +110,7 @@ using matrix::wrap_2pi; #include "streams/ALTITUDE.hpp" #include "streams/AUTOPILOT_VERSION.hpp" +#include "streams/DISTANCE_SENSOR.hpp" #include "streams/ESC_INFO.hpp" #include "streams/ESC_STATUS.hpp" #include "streams/EXTENDED_SYS_STATE.hpp" @@ -4374,97 +4375,6 @@ protected: } }; -class MavlinkStreamDistanceSensor : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamDistanceSensor::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "DISTANCE_SENSOR"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_DISTANCE_SENSOR; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamDistanceSensor(mavlink); - } - - unsigned get_size() override - { - return _distance_sensor_subs.advertised_count() * (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES); - } - -private: - uORB::SubscriptionMultiArray _distance_sensor_subs{ORB_ID::distance_sensor}; - - /* do not allow top copying this class */ - MavlinkStreamDistanceSensor(MavlinkStreamDistanceSensor &) = delete; - MavlinkStreamDistanceSensor &operator = (const MavlinkStreamDistanceSensor &) = delete; - -protected: - explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - bool updated = false; - - for (int i = 0; i < _distance_sensor_subs.size(); i++) { - distance_sensor_s dist_sensor; - - if (_distance_sensor_subs[i].update(&dist_sensor)) { - mavlink_distance_sensor_t msg{}; - - msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */ - - switch (dist_sensor.type) { - case MAV_DISTANCE_SENSOR_ULTRASOUND: - msg.type = MAV_DISTANCE_SENSOR_ULTRASOUND; - break; - - case MAV_DISTANCE_SENSOR_LASER: - msg.type = MAV_DISTANCE_SENSOR_LASER; - break; - - case MAV_DISTANCE_SENSOR_INFRARED: - msg.type = MAV_DISTANCE_SENSOR_INFRARED; - break; - - default: - msg.type = MAV_DISTANCE_SENSOR_LASER; - break; - } - - msg.current_distance = dist_sensor.current_distance * 1e2f; // m to cm - msg.id = i; - msg.max_distance = dist_sensor.max_distance * 1e2f; // m to cm - msg.min_distance = dist_sensor.min_distance * 1e2f; // m to cm - msg.orientation = dist_sensor.orientation; - msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2 - - mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg); - - updated = true; - } - } - - return updated; - } -}; - static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), @@ -4521,7 +4431,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), +#if defined(DISTANCE_SENSOR_HPP) create_stream_list_item(), +#endif // DISTANCE_SENSOR_HPP #if defined(EXTENDED_SYS_STATE_HPP) create_stream_list_item(), #endif // EXTENDED_SYS_STATE_HPP diff --git a/src/modules/mavlink/streams/DISTANCE_SENSOR.hpp b/src/modules/mavlink/streams/DISTANCE_SENSOR.hpp new file mode 100644 index 0000000000..9042403a48 --- /dev/null +++ b/src/modules/mavlink/streams/DISTANCE_SENSOR.hpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef DISTANCE_SENSOR_HPP +#define DISTANCE_SENSOR_HPP + +#include +#include + +class MavlinkStreamDistanceSensor : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDistanceSensor(mavlink); } + + static constexpr const char *get_name_static() { return "DISTANCE_SENSOR"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DISTANCE_SENSOR; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _distance_sensor_subs.advertised_count() * (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES); + } + +private: + explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::SubscriptionMultiArray _distance_sensor_subs{ORB_ID::distance_sensor}; + + bool send() override + { + bool updated = false; + + for (int i = 0; i < _distance_sensor_subs.size(); i++) { + distance_sensor_s dist_sensor; + + if (_distance_sensor_subs[i].update(&dist_sensor)) { + mavlink_distance_sensor_t msg{}; + + msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */ + + switch (dist_sensor.type) { + case MAV_DISTANCE_SENSOR_ULTRASOUND: + msg.type = MAV_DISTANCE_SENSOR_ULTRASOUND; + break; + + case MAV_DISTANCE_SENSOR_LASER: + msg.type = MAV_DISTANCE_SENSOR_LASER; + break; + + case MAV_DISTANCE_SENSOR_INFRARED: + msg.type = MAV_DISTANCE_SENSOR_INFRARED; + break; + + default: + msg.type = MAV_DISTANCE_SENSOR_LASER; + break; + } + + msg.current_distance = dist_sensor.current_distance * 1e2f; // m to cm + msg.id = i; + msg.max_distance = dist_sensor.max_distance * 1e2f; // m to cm + msg.min_distance = dist_sensor.min_distance * 1e2f; // m to cm + msg.orientation = dist_sensor.orientation; + msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2 + + mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg); + + updated = true; + } + } + + return updated; + } +}; + +#endif // DISTANCE_SENSOR