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mavlink: move MANUAL_CONTROL to separate streams header

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This commit is contained in:
Daniel Agar
2020-12-27 20:34:32 -05:00
committed by Lorenz Meier
parent 629d03b684
commit 48be6962d1
2 changed files with 102 additions and 85 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -85
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@@ -71,8 +71,6 @@
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_gps.h>
@@ -117,6 +115,7 @@ using matrix::wrap_2pi;
#include "streams/GPS_STATUS.hpp"
#include "streams/HIGH_LATENCY2.hpp"
#include "streams/HIL_STATE_QUATERNION.hpp"
#include "streams/MANUAL_CONTROL.hpp"
#include "streams/MOUNT_ORIENTATION.hpp"
#include "streams/NAV_CONTROLLER_OUTPUT.hpp"
#include "streams/OBSTACLE_DISTANCE.hpp"
@@ -3584,89 +3583,6 @@ protected:
}
};
class MavlinkStreamManualControl : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamManualControl::get_name_static();
}
static constexpr const char *get_name_static()
{
return "MANUAL_CONTROL";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_MANUAL_CONTROL;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamManualControl(mavlink);
}
unsigned get_size() override
{
return _manual_control_setpoint_sub.advertised() ?
(MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
/* do not allow top copying this class */
MavlinkStreamManualControl(MavlinkStreamManualControl &) = delete;
MavlinkStreamManualControl &operator = (const MavlinkStreamManualControl &) = delete;
protected:
explicit MavlinkStreamManualControl(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
manual_control_setpoint_s manual_control_setpoint;
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
mavlink_manual_control_t msg{};
msg.target = mavlink_system.sysid;
msg.x = manual_control_setpoint.x * 1000;
msg.y = manual_control_setpoint.y * 1000;
msg.z = manual_control_setpoint.z * 1000;
msg.r = manual_control_setpoint.r * 1000;
manual_control_switches_s manual_control_switches{};
if (_manual_control_switches_sub.copy(&manual_control_switches)) {
unsigned shift = 2;
msg.buttons = 0;
msg.buttons |= (manual_control_switches.mode_switch << (shift * 0));
msg.buttons |= (manual_control_switches.return_switch << (shift * 1));
msg.buttons |= (manual_control_switches.posctl_switch << (shift * 2));
msg.buttons |= (manual_control_switches.loiter_switch << (shift * 3));
msg.buttons |= (manual_control_switches.acro_switch << (shift * 4));
msg.buttons |= (manual_control_switches.offboard_switch << (shift * 5));
msg.buttons |= (manual_control_switches.kill_switch << (shift * 6));
}
mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -3784,7 +3700,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamAttitudeTarget>(),
#endif // ATTITUDE_TARGET_HPP
create_stream_list_item<MavlinkStreamRCChannels>(),
#if defined(MANUAL_CONTROL_HPP)
create_stream_list_item<MavlinkStreamManualControl>(),
#endif // MANUAL_CONTROL_HPP
#if defined(TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP)
create_stream_list_item<MavlinkStreamTrajectoryRepresentationWaypoints>(),
#endif // TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP
src/modules/mavlink/streams/MANUAL_CONTROL.hpp
+99
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@@ -0,0 +1,99 @@
/****************************************************************************
*
* 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 MANUAL_CONTROL_HPP
#define MANUAL_CONTROL_HPP
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
class MavlinkStreamManualControl : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamManualControl(mavlink); }
static constexpr const char *get_name_static() { return "MANUAL_CONTROL"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_MANUAL_CONTROL; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _manual_control_setpoint_sub.advertised() ? (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) :
0;
}
private:
explicit MavlinkStreamManualControl(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
bool send() override
{
manual_control_setpoint_s manual_control_setpoint;
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
mavlink_manual_control_t msg{};
msg.target = mavlink_system.sysid;
msg.x = manual_control_setpoint.x * 1000;
msg.y = manual_control_setpoint.y * 1000;
msg.z = manual_control_setpoint.z * 1000;
msg.r = manual_control_setpoint.r * 1000;
manual_control_switches_s manual_control_switches{};
if (_manual_control_switches_sub.copy(&manual_control_switches)) {
unsigned shift = 2;
msg.buttons = 0;
msg.buttons |= (manual_control_switches.mode_switch << (shift * 0));
msg.buttons |= (manual_control_switches.return_switch << (shift * 1));
msg.buttons |= (manual_control_switches.posctl_switch << (shift * 2));
msg.buttons |= (manual_control_switches.loiter_switch << (shift * 3));
msg.buttons |= (manual_control_switches.acro_switch << (shift * 4));
msg.buttons |= (manual_control_switches.offboard_switch << (shift * 5));
msg.buttons |= (manual_control_switches.kill_switch << (shift * 6));
}
mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // MANUAL_CONTROL