diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 2340c70d89..b5bece715b 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -97,7 +97,6 @@ #include #include #include -#include #include using matrix::Vector3f; @@ -128,6 +127,7 @@ using matrix::wrap_2pi; #include "streams/RAW_RPM.hpp" #include "streams/STATUSTEXT.hpp" #include "streams/STORAGE_INFORMATION.hpp" +#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp" #include "streams/WIND_COV.hpp" #if !defined(CONSTRAINED_FLASH) @@ -3667,114 +3667,6 @@ protected: } }; -class MavlinkStreamTrajectoryRepresentationWaypoints: public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamTrajectoryRepresentationWaypoints::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "TRAJECTORY_REPRESENTATION_WAYPOINTS"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamTrajectoryRepresentationWaypoints(mavlink); - } - - unsigned get_size() override - { - if (_traj_wp_avoidance_sub.advertised()) { - return MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - - return 0; - } - -private: - uORB::Subscription _traj_wp_avoidance_sub{ORB_ID(vehicle_trajectory_waypoint_desired)}; - - /* do not allow top copying this class */ - MavlinkStreamTrajectoryRepresentationWaypoints(MavlinkStreamTrajectoryRepresentationWaypoints &); - MavlinkStreamTrajectoryRepresentationWaypoints &operator = (const MavlinkStreamTrajectoryRepresentationWaypoints &); - -protected: - explicit MavlinkStreamTrajectoryRepresentationWaypoints(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_trajectory_waypoint_s traj_wp_avoidance_desired; - - if (_traj_wp_avoidance_sub.update(&traj_wp_avoidance_desired)) { - mavlink_trajectory_representation_waypoints_t msg{}; - - msg.time_usec = traj_wp_avoidance_desired.timestamp; - int number_valid_points = 0; - - for (int i = 0; i < vehicle_trajectory_waypoint_s::NUMBER_POINTS; ++i) { - msg.pos_x[i] = traj_wp_avoidance_desired.waypoints[i].position[0]; - msg.pos_y[i] = traj_wp_avoidance_desired.waypoints[i].position[1]; - msg.pos_z[i] = traj_wp_avoidance_desired.waypoints[i].position[2]; - - msg.vel_x[i] = traj_wp_avoidance_desired.waypoints[i].velocity[0]; - msg.vel_y[i] = traj_wp_avoidance_desired.waypoints[i].velocity[1]; - msg.vel_z[i] = traj_wp_avoidance_desired.waypoints[i].velocity[2]; - - msg.acc_x[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[0]; - msg.acc_y[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[1]; - msg.acc_z[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[2]; - - msg.pos_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw; - msg.vel_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw_speed; - - switch (traj_wp_avoidance_desired.waypoints[i].type) { - case position_setpoint_s::SETPOINT_TYPE_TAKEOFF: - msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF; - break; - - case position_setpoint_s::SETPOINT_TYPE_LOITER: - msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM; - break; - - case position_setpoint_s::SETPOINT_TYPE_LAND: - msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LAND; - break; - - default: - msg.command[i] = UINT16_MAX; - } - - if (traj_wp_avoidance_desired.waypoints[i].point_valid) { - number_valid_points++; - } - - } - - msg.valid_points = number_valid_points; - - mavlink_msg_trajectory_representation_waypoints_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamCameraCapture : public MavlinkStream { public: @@ -3893,7 +3785,9 @@ static const StreamListItem streams_list[] = { #endif // ATTITUDE_TARGET_HPP create_stream_list_item(), create_stream_list_item(), +#if defined(TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP) create_stream_list_item(), +#endif // TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP #if defined(OPTICAL_FLOW_RAD_HPP) create_stream_list_item(), #endif // OPTICAL_FLOW_RAD_HPP diff --git a/src/modules/mavlink/streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp b/src/modules/mavlink/streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp new file mode 100644 index 0000000000..174c633fd2 --- /dev/null +++ b/src/modules/mavlink/streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * 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 TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP +#define TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP + +#include + +class MavlinkStreamTrajectoryRepresentationWaypoints: public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamTrajectoryRepresentationWaypoints(mavlink); } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + static constexpr const char *get_name_static() { return "TRAJECTORY_REPRESENTATION_WAYPOINTS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS; } + + unsigned get_size() override + { + if (_traj_wp_avoidance_sub.advertised()) { + return MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamTrajectoryRepresentationWaypoints(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _traj_wp_avoidance_sub{ORB_ID(vehicle_trajectory_waypoint_desired)}; + + bool send() override + { + vehicle_trajectory_waypoint_s traj_wp_avoidance_desired; + + if (_traj_wp_avoidance_sub.update(&traj_wp_avoidance_desired)) { + mavlink_trajectory_representation_waypoints_t msg{}; + + msg.time_usec = traj_wp_avoidance_desired.timestamp; + int number_valid_points = 0; + + for (int i = 0; i < vehicle_trajectory_waypoint_s::NUMBER_POINTS; ++i) { + msg.pos_x[i] = traj_wp_avoidance_desired.waypoints[i].position[0]; + msg.pos_y[i] = traj_wp_avoidance_desired.waypoints[i].position[1]; + msg.pos_z[i] = traj_wp_avoidance_desired.waypoints[i].position[2]; + + msg.vel_x[i] = traj_wp_avoidance_desired.waypoints[i].velocity[0]; + msg.vel_y[i] = traj_wp_avoidance_desired.waypoints[i].velocity[1]; + msg.vel_z[i] = traj_wp_avoidance_desired.waypoints[i].velocity[2]; + + msg.acc_x[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[0]; + msg.acc_y[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[1]; + msg.acc_z[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[2]; + + msg.pos_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw; + msg.vel_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw_speed; + + switch (traj_wp_avoidance_desired.waypoints[i].type) { + case position_setpoint_s::SETPOINT_TYPE_TAKEOFF: + msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF; + break; + + case position_setpoint_s::SETPOINT_TYPE_LOITER: + msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM; + break; + + case position_setpoint_s::SETPOINT_TYPE_LAND: + msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LAND; + break; + + default: + msg.command[i] = UINT16_MAX; + } + + if (traj_wp_avoidance_desired.waypoints[i].point_valid) { + number_valid_points++; + } + + } + + msg.valid_points = number_valid_points; + + mavlink_msg_trajectory_representation_waypoints_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP