Daniel Agar
4 years ago
2 changed files with 129 additions and 105 deletions
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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 ACTUATOR_CONTROL_TARGET_HPP |
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#define ACTUATOR_CONTROL_TARGET_HPP |
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#include <uORB/topics/actuator_controls.h> |
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template <int N> |
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class MavlinkStreamActuatorControlTarget : public MavlinkStream |
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{ |
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public: |
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamActuatorControlTarget<N>(mavlink); } |
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static constexpr const char *get_name_static() |
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{ |
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switch (N) { |
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case 0: |
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return "ACTUATOR_CONTROL_TARGET0"; |
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case 1: |
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return "ACTUATOR_CONTROL_TARGET1"; |
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case 2: |
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return "ACTUATOR_CONTROL_TARGET2"; |
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case 3: |
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return "ACTUATOR_CONTROL_TARGET3"; |
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} |
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} |
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET; } |
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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 (_act_ctrl_sub |
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&& _act_ctrl_sub->advertised()) ? (MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; |
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} |
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private: |
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explicit MavlinkStreamActuatorControlTarget(Mavlink *mavlink) : MavlinkStream(mavlink) |
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{ |
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// XXX this can be removed once the multiplatform system remaps topics
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switch (N) { |
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case 0: |
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_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_0)}; |
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break; |
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case 1: |
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_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_1)}; |
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break; |
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case 2: |
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_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_2)}; |
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break; |
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case 3: |
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_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_3)}; |
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break; |
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} |
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} |
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~MavlinkStreamActuatorControlTarget() override |
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{ |
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delete _act_ctrl_sub; |
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} |
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uORB::Subscription *_act_ctrl_sub{nullptr}; |
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bool send() override |
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{ |
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actuator_controls_s act_ctrl; |
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if (_act_ctrl_sub && _act_ctrl_sub->update(&act_ctrl)) { |
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mavlink_actuator_control_target_t msg{}; |
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msg.time_usec = act_ctrl.timestamp; |
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msg.group_mlx = N; |
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for (unsigned i = 0; i < sizeof(msg.controls) / sizeof(msg.controls[0]); i++) { |
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msg.controls[i] = act_ctrl.control[i]; |
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} |
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mavlink_msg_actuator_control_target_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 // ACTUATOR_CONTROL_TARGET_HPP
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