From 7926a1f8aed851d8ac22538279c11660dc645f20 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 13 May 2014 18:22:03 +0200 Subject: [PATCH] Converted streams to new API, saving a bunch of RAM --- src/modules/mavlink/mavlink_messages.cpp | 382 +++++++++++++---------- 1 file changed, 212 insertions(+), 170 deletions(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 4bb827116d..3a82f1f050 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -596,55 +596,57 @@ protected: }; -// class MavlinkStreamGlobalPositionInt : public MavlinkStream -// { -// public: -// const char *get_name() -// { -// return "GLOBAL_POSITION_INT"; -// } +class MavlinkStreamGlobalPositionInt : public MavlinkStream +{ +public: + const char *get_name() const + { + return MavlinkStreamGlobalPositionInt::get_name_static(); + } -// MavlinkStream *new_instance() -// { -// return new MavlinkStreamGlobalPositionInt(); -// } + static const char *get_name_static() + { + return "GLOBAL_POSITION_INT"; + } -// private: -// MavlinkOrbSubscription *pos_sub; -// struct vehicle_global_position_s *pos; + static MavlinkStream *new_instance() + { + return new MavlinkStreamGlobalPositionInt(); + } -// MavlinkOrbSubscription *home_sub; -// struct home_position_s *home; +private: + MavlinkOrbSubscription *pos_sub; + MavlinkOrbSubscription *home_sub; -// protected: -// void subscribe(Mavlink *mavlink) -// { -// pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_global_position)); -// pos = (struct vehicle_global_position_s *)pos_sub->get_data(); +protected: + void subscribe(Mavlink *mavlink) + { + pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_global_position)); + home_sub = mavlink->add_orb_subscription(ORB_ID(home_position)); + } -// home_sub = mavlink->add_orb_subscription(ORB_ID(home_position)); -// home = (struct home_position_s *)home_sub->get_data(); -// } + void send(const hrt_abstime t) + { + struct vehicle_global_position_s pos; + struct home_position_s home; -// void send(const hrt_abstime t) -// { -// bool updated = pos_sub->update(t); -// updated |= home_sub->update(t); - -// if (updated) { -// mavlink_msg_global_position_int_send(_channel, -// pos->timestamp / 1000, -// pos->lat * 1e7, -// pos->lon * 1e7, -// pos->alt * 1000.0f, -// (pos->alt - home->alt) * 1000.0f, -// pos->vel_n * 100.0f, -// pos->vel_e * 100.0f, -// pos->vel_d * 100.0f, -// _wrap_2pi(pos->yaw) * M_RAD_TO_DEG_F * 100.0f); -// } -// } -// }; + bool updated = pos_sub->update(t, &pos); + updated |= home_sub->update(t, &home); + + if (updated) { + mavlink_msg_global_position_int_send(_channel, + pos.timestamp / 1000, + pos.lat * 1e7, + pos.lon * 1e7, + pos.alt * 1000.0f, + (pos.alt - home.alt) * 1000.0f, + pos.vel_n * 100.0f, + pos.vel_e * 100.0f, + pos.vel_d * 100.0f, + _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f); + } + } +}; // class MavlinkStreamLocalPositionNED : public MavlinkStream @@ -675,13 +677,13 @@ protected: // { // if (pos_sub->update(t)) { // mavlink_msg_local_position_ned_send(_channel, -// pos->timestamp / 1000, -// pos->x, -// pos->y, -// pos->z, -// pos->vx, -// pos->vy, -// pos->vz); +// pos.timestamp / 1000, +// pos.x, +// pos.y, +// pos.z, +// pos.vx, +// pos.vy, +// pos.vz); // } // } // }; @@ -716,13 +718,13 @@ protected: // { // if (pos_sub->update(t)) { // mavlink_msg_vicon_position_estimate_send(_channel, -// pos->timestamp / 1000, -// pos->x, -// pos->y, -// pos->z, -// pos->roll, -// pos->pitch, -// pos->yaw); +// pos.timestamp / 1000, +// pos.x, +// pos.y, +// pos.z, +// pos.roll, +// pos.pitch, +// pos.yaw); // } // } // }; @@ -1106,131 +1108,171 @@ protected: // }; -// class MavlinkStreamRCChannelsRaw : public MavlinkStream -// { -// public: -// const char *get_name() -// { -// return "RC_CHANNELS_RAW"; -// } +class MavlinkStreamRCChannelsRaw : public MavlinkStream +{ +public: + const char *get_name() const + { + return MavlinkStreamRCChannelsRaw::get_name_static(); + } -// MavlinkStream *new_instance() -// { -// return new MavlinkStreamRCChannelsRaw(); -// } + static const char *get_name_static() + { + return "RC_CHANNELS_RAW"; + } -// private: -// MavlinkOrbSubscription *rc_sub; -// struct rc_input_values *rc; + static MavlinkStream *new_instance() + { + return new MavlinkStreamRCChannelsRaw(); + } -// protected: -// void subscribe(Mavlink *mavlink) -// { -// rc_sub = mavlink->add_orb_subscription(ORB_ID(input_rc)); -// rc = (struct rc_input_values *)rc_sub->get_data(); -// } +private: + MavlinkOrbSubscription *rc_sub; -// void send(const hrt_abstime t) -// { -// if (rc_sub->update(t)) { -// const unsigned port_width = 8; - -// for (unsigned i = 0; (i * port_width) < rc->channel_count; i++) { -// /* Channels are sent in MAVLink main loop at a fixed interval */ -// mavlink_msg_rc_channels_raw_send(_channel, -// rc->timestamp_publication / 1000, -// i, -// (rc->channel_count > (i * port_width) + 0) ? rc->values[(i * port_width) + 0] : UINT16_MAX, -// (rc->channel_count > (i * port_width) + 1) ? rc->values[(i * port_width) + 1] : UINT16_MAX, -// (rc->channel_count > (i * port_width) + 2) ? rc->values[(i * port_width) + 2] : UINT16_MAX, -// (rc->channel_count > (i * port_width) + 3) ? rc->values[(i * port_width) + 3] : UINT16_MAX, -// (rc->channel_count > (i * port_width) + 4) ? rc->values[(i * port_width) + 4] : UINT16_MAX, -// (rc->channel_count > (i * port_width) + 5) ? rc->values[(i * port_width) + 5] : UINT16_MAX, -// (rc->channel_count > (i * port_width) + 6) ? rc->values[(i * port_width) + 6] : UINT16_MAX, -// (rc->channel_count > (i * port_width) + 7) ? rc->values[(i * port_width) + 7] : UINT16_MAX, -// rc->rssi); -// } -// } -// } -// }; +protected: + void subscribe(Mavlink *mavlink) + { + rc_sub = mavlink->add_orb_subscription(ORB_ID(input_rc)); + } + + void send(const hrt_abstime t) + { + struct rc_input_values rc; + + if (rc_sub->update(t, &rc)) { + const unsigned port_width = 8; + + // Deprecated message (but still needed for compatibility!) + for (unsigned i = 0; (i * port_width) < rc.channel_count; i++) { + /* Channels are sent in MAVLink main loop at a fixed interval */ + mavlink_msg_rc_channels_raw_send(_channel, + rc.timestamp_publication / 1000, + i, + (rc.channel_count > (i * port_width) + 0) ? rc.values[(i * port_width) + 0] : UINT16_MAX, + (rc.channel_count > (i * port_width) + 1) ? rc.values[(i * port_width) + 1] : UINT16_MAX, + (rc.channel_count > (i * port_width) + 2) ? rc.values[(i * port_width) + 2] : UINT16_MAX, + (rc.channel_count > (i * port_width) + 3) ? rc.values[(i * port_width) + 3] : UINT16_MAX, + (rc.channel_count > (i * port_width) + 4) ? rc.values[(i * port_width) + 4] : UINT16_MAX, + (rc.channel_count > (i * port_width) + 5) ? rc.values[(i * port_width) + 5] : UINT16_MAX, + (rc.channel_count > (i * port_width) + 6) ? rc.values[(i * port_width) + 6] : UINT16_MAX, + (rc.channel_count > (i * port_width) + 7) ? rc.values[(i * port_width) + 7] : UINT16_MAX, + rc.rssi); + } + // New message + mavlink_msg_rc_channels_send(_channel, + rc.timestamp_publication / 1000, + ((rc.channel_count > 0) ? rc.values[0] : UINT16_MAX), + ((rc.channel_count > 1) ? rc.values[1] : UINT16_MAX), + ((rc.channel_count > 2) ? rc.values[2] : UINT16_MAX), + ((rc.channel_count > 3) ? rc.values[3] : UINT16_MAX), + ((rc.channel_count > 4) ? rc.values[4] : UINT16_MAX), + ((rc.channel_count > 5) ? rc.values[5] : UINT16_MAX), + ((rc.channel_count > 6) ? rc.values[6] : UINT16_MAX), + ((rc.channel_count > 7) ? rc.values[7] : UINT16_MAX), + ((rc.channel_count > 8) ? rc.values[8] : UINT16_MAX), + ((rc.channel_count > 9) ? rc.values[9] : UINT16_MAX), + ((rc.channel_count > 10) ? rc.values[10] : UINT16_MAX), + ((rc.channel_count > 11) ? rc.values[11] : UINT16_MAX), + ((rc.channel_count > 12) ? rc.values[12] : UINT16_MAX), + ((rc.channel_count > 13) ? rc.values[13] : UINT16_MAX), + ((rc.channel_count > 14) ? rc.values[14] : UINT16_MAX), + ((rc.channel_count > 15) ? rc.values[15] : UINT16_MAX), + ((rc.channel_count > 16) ? rc.values[16] : UINT16_MAX), + ((rc.channel_count > 17) ? rc.values[17] : UINT16_MAX), + rc.channel_count, + rc.rssi); + } + } +}; -// class MavlinkStreamManualControl : public MavlinkStream -// { -// public: -// const char *get_name() -// { -// return "MANUAL_CONTROL"; -// } -// MavlinkStream *new_instance() -// { -// return new MavlinkStreamManualControl(); -// } +class MavlinkStreamManualControl : public MavlinkStream +{ +public: + const char *get_name() const + { + return MavlinkStreamManualControl::get_name_static(); + } -// private: -// MavlinkOrbSubscription *manual_sub; -// struct manual_control_setpoint_s *manual; + static const char *get_name_static() + { + return "MANUAL_CONTROL"; + } -// protected: -// void subscribe(Mavlink *mavlink) -// { -// manual_sub = mavlink->add_orb_subscription(ORB_ID(manual_control_setpoint)); -// manual = (struct manual_control_setpoint_s *)manual_sub->get_data(); -// } + static MavlinkStream *new_instance() + { + return new MavlinkStreamManualControl(); + } -// void send(const hrt_abstime t) -// { -// if (manual_sub->update(t)) { -// mavlink_msg_manual_control_send(_channel, -// mavlink_system.sysid, -// manual->x * 1000, -// manual->y * 1000, -// manual->z * 1000, -// manual->r * 1000, -// 0); -// } -// } -// }; +private: + MavlinkOrbSubscription *manual_sub; +protected: + void subscribe(Mavlink *mavlink) + { + manual_sub = mavlink->add_orb_subscription(ORB_ID(manual_control_setpoint)); + } -// class MavlinkStreamOpticalFlow : public MavlinkStream -// { -// public: -// const char *get_name() -// { -// return "OPTICAL_FLOW"; -// } + void send(const hrt_abstime t) + { + struct manual_control_setpoint_s manual; + + if (manual_sub->update(t, &manual)) { + mavlink_msg_manual_control_send(_channel, + mavlink_system.sysid, + manual.x * 1000, + manual.y * 1000, + manual.z * 1000, + manual.r * 1000, + 0); + } + } +}; -// MavlinkStream *new_instance() -// { -// return new MavlinkStreamOpticalFlow(); -// } -// private: -// MavlinkOrbSubscription *flow_sub; -// struct optical_flow_s *flow; +class MavlinkStreamOpticalFlow : public MavlinkStream +{ +public: + const char *get_name() const + { + return MavlinkStreamOpticalFlow::get_name_static(); + } -// protected: -// void subscribe(Mavlink *mavlink) -// { -// flow_sub = mavlink->add_orb_subscription(ORB_ID(optical_flow)); -// flow = (struct optical_flow_s *)flow_sub->get_data(); -// } + static const char *get_name_static() + { + return "OPTICAL_FLOW"; + } -// void send(const hrt_abstime t) -// { -// if (flow_sub->update(t)) { -// mavlink_msg_optical_flow_send(_channel, -// flow->timestamp, -// flow->sensor_id, -// flow->flow_raw_x, flow->flow_raw_y, -// flow->flow_comp_x_m, flow->flow_comp_y_m, -// flow->quality, -// flow->ground_distance_m); -// } -// } -// }; + static MavlinkStream *new_instance() + { + return new MavlinkStreamOpticalFlow(); + } + +private: + MavlinkOrbSubscription *flow_sub; + +protected: + void subscribe(Mavlink *mavlink) + { + flow_sub = mavlink->add_orb_subscription(ORB_ID(optical_flow)); + } + + void send(const hrt_abstime t) + { + struct optical_flow_s flow; + + if (flow_sub->update(t, &flow)) { + mavlink_msg_optical_flow_send(_channel, + flow.timestamp, + flow.sensor_id, + flow.flow_raw_x, flow.flow_raw_y, + flow.flow_comp_x_m, flow.flow_comp_y_m, + flow.quality, + flow.ground_distance_m); + } + } +}; // class MavlinkStreamAttitudeControls : public MavlinkStream // { @@ -1413,7 +1455,7 @@ StreamListItem *streams_list[] = { new StreamListItem(&MavlinkStreamAttitudeQuaternion::new_instance, &MavlinkStreamAttitudeQuaternion::get_name_static), new StreamListItem(&MavlinkStreamVFRHUD::new_instance, &MavlinkStreamVFRHUD::get_name_static), new StreamListItem(&MavlinkStreamGPSRawInt::new_instance, &MavlinkStreamGPSRawInt::get_name_static), - // new MavlinkStreamGlobalPositionInt(), + new StreamListItem(&MavlinkStreamGlobalPositionInt::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static), // new MavlinkStreamLocalPositionNED(), // new MavlinkStreamGPSGlobalOrigin(), // new MavlinkStreamServoOutputRaw(0), @@ -1425,9 +1467,9 @@ StreamListItem *streams_list[] = { // new MavlinkStreamLocalPositionSetpoint(), // new MavlinkStreamRollPitchYawThrustSetpoint(), // new MavlinkStreamRollPitchYawRatesThrustSetpoint(), - // new MavlinkStreamRCChannelsRaw(), - // new MavlinkStreamManualControl(), - // new MavlinkStreamOpticalFlow(), + new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static), + new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static), + new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static), // new MavlinkStreamAttitudeControls(), // new MavlinkStreamNamedValueFloat(), // new MavlinkStreamCameraCapture(),