forked from Archive/PX4-Autopilot
mavlink: move GIMBAL_MANAGER_INFORMATION to separate stream header
This commit is contained in:
Daniel Agar
parent
aaf7b41dda
commit
c9d44d5741
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@ -69,7 +69,6 @@
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/geofence_result.h>
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#include <uORB/topics/gimbal_device_attitude_status.h>
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#include <uORB/topics/gimbal_manager_information.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/sensor_baro.h>
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@ -147,6 +146,7 @@ using matrix::wrap_2pi;
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# include "streams/DEBUG_FLOAT_ARRAY.hpp"
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# include "streams/DEBUG_VECT.hpp"
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# include "streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp"
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# include "streams/GIMBAL_MANAGER_INFORMATION.hpp"
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# include "streams/GIMBAL_MANAGER_STATUS.hpp"
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# include "streams/LINK_NODE_STATUS.hpp"
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# include "streams/NAMED_VALUE_FLOAT.hpp"
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@ -2053,79 +2053,6 @@ protected:
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}
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};
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class MavlinkStreamGimbalManagerInformation : 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 MavlinkStreamGimbalManagerInformation::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 "GIMBAL_MANAGER_INFORMATION";
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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_GIMBAL_MANAGER_INFORMATION;
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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 MavlinkStreamGimbalManagerInformation(mavlink);
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}
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unsigned get_size() override
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{
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return _gimbal_manager_information_sub.advertised() ? (MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION_LEN +
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MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
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}
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private:
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uORB::Subscription _gimbal_manager_information_sub{ORB_ID(gimbal_manager_information)};
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/* do not allow top copying this class */
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MavlinkStreamGimbalManagerInformation(MavlinkStreamGimbalManagerInformation &) = delete;
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MavlinkStreamGimbalManagerInformation &operator = (const MavlinkStreamGimbalManagerInformation &) = delete;
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protected:
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explicit MavlinkStreamGimbalManagerInformation(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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gimbal_manager_information_s gimbal_manager_information;
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if (_gimbal_manager_information_sub.advertised() && _gimbal_manager_information_sub.copy(&gimbal_manager_information)) {
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// send out gimbal_manager_info with info from gimbal_manager_information
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mavlink_gimbal_manager_information_t msg{};
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msg.time_boot_ms = gimbal_manager_information.timestamp / 1000;
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msg.gimbal_device_id = 0;
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msg.cap_flags = gimbal_manager_information.cap_flags;
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msg.roll_min = gimbal_manager_information.roll_min;
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msg.roll_max = gimbal_manager_information.roll_max;
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msg.pitch_min = gimbal_manager_information.pitch_min;
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msg.pitch_max = gimbal_manager_information.pitch_max;
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msg.yaw_min = gimbal_manager_information.yaw_min;
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msg.yaw_max = gimbal_manager_information.yaw_max;
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mavlink_msg_gimbal_manager_information_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
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class MavlinkStreamCameraTrigger : public MavlinkStream
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@ -2364,9 +2291,11 @@ static const StreamListItem streams_list[] = {
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#endif // ATT_POS_MOCAP_HPP
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#if !defined(CONSTRAINED_FLASH)
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create_stream_list_item<MavlinkStreamGimbalDeviceAttitudeStatus>(),
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create_stream_list_item<MavlinkStreamGimbalManagerInformation>(),
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create_stream_list_item<MavlinkStreamAutopilotStateForGimbalDevice>(),
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#endif
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#if defined(GIMBAL_MANAGER_INFORMATION_HPP)
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create_stream_list_item<MavlinkStreamGimbalManagerInformation>(),
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#endif // GIMBAL_MANAGER_INFORMATION_HPP
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#if defined(GIMBAL_MANAGER_STATUS_HPP)
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create_stream_list_item<MavlinkStreamGimbalManagerStatus>(),
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#endif // GIMBAL_MANAGER_STATUS_HPP
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@ -0,0 +1,91 @@
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/****************************************************************************
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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 GIMBAL_MANAGER_INFORMATION_HPP
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#define GIMBAL_MANAGER_INFORMATION_HPP
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#include <uORB/topics/gimbal_manager_information.h>
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class MavlinkStreamGimbalManagerInformation : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalManagerInformation(mavlink); }
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static constexpr const char *get_name_static() { return "GIMBAL_MANAGER_INFORMATION"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION; }
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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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if (_gimbal_manager_information_sub.advertised()) {
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return MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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return 0;
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}
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private:
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explicit MavlinkStreamGimbalManagerInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _gimbal_manager_information_sub{ORB_ID(gimbal_manager_information)};
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bool send() override
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{
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gimbal_manager_information_s gimbal_manager_information;
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if (_gimbal_manager_information_sub.advertised() && _gimbal_manager_information_sub.copy(&gimbal_manager_information)) {
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// send out gimbal_manager_info with info from gimbal_manager_information
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mavlink_gimbal_manager_information_t msg{};
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msg.time_boot_ms = gimbal_manager_information.timestamp / 1000;
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msg.cap_flags = gimbal_manager_information.cap_flags;
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msg.gimbal_device_id = 0;
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msg.roll_min = gimbal_manager_information.roll_min;
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msg.roll_max = gimbal_manager_information.roll_max;
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msg.pitch_min = gimbal_manager_information.pitch_min;
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msg.pitch_max = gimbal_manager_information.pitch_max;
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msg.yaw_min = gimbal_manager_information.yaw_min;
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msg.yaw_max = gimbal_manager_information.yaw_max;
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mavlink_msg_gimbal_manager_information_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 // GIMBAL_MANAGER_INFORMATION_HPP
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