diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index da3ec4d35a..db21e1e835 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -104,6 +104,7 @@ using matrix::wrap_2pi; #include "streams/BATTERY_STATUS.hpp" #include "streams/CAMERA_IMAGE_CAPTURED.hpp" #include "streams/COLLISION.hpp" +#include "streams/COMMAND_LONG.hpp" #include "streams/COMPONENT_INFORMATION.hpp" #include "streams/DISTANCE_SENSOR.hpp" #include "streams/ESC_INFO.hpp" @@ -483,83 +484,6 @@ protected: } }; -class MavlinkStreamCommandLong : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamCommandLong::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "COMMAND_LONG"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_COMMAND_LONG; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamCommandLong(mavlink); - } - - unsigned get_size() override - { - return 0; // commands stream is not regular and not predictable - } - -private: - uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; - - /* do not allow top copying this class */ - MavlinkStreamCommandLong(MavlinkStreamCommandLong &) = delete; - MavlinkStreamCommandLong &operator = (const MavlinkStreamCommandLong &) = delete; - -protected: - explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - bool sent = false; - - while ((_mavlink->get_free_tx_buf() >= get_size()) && _vehicle_command_sub.updated()) { - - const unsigned last_generation = _vehicle_command_sub.get_last_generation(); - vehicle_command_s cmd; - - if (_vehicle_command_sub.update(&cmd)) { - if (_vehicle_command_sub.get_last_generation() != last_generation + 1) { - PX4_ERR("COMMAND_LONG vehicle_command lost, generation %d -> %d", last_generation, - _vehicle_command_sub.get_last_generation()); - } - - if (!cmd.from_external && cmd.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) { - PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component); - - MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel()); - sent = true; - - } else { - PX4_DEBUG("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component); - } - } - } - - MavlinkCommandSender::instance().check_timeout(_mavlink->get_channel()); - - return sent; - } -}; - class MavlinkStreamCameraTrigger : public MavlinkStream { public: @@ -746,7 +670,9 @@ static const StreamListItem streams_list[] = { #if defined(STATUSTEXT_HPP) create_stream_list_item(), #endif // STATUSTEXT_HPP +#if defined(COMMAND_LONG_HPP) create_stream_list_item(), +#endif // COMMAND_LONG_HPP #if defined(SYSTEM_TIME_HPP) create_stream_list_item(), #endif // SYSTEM_TIME_HPP diff --git a/src/modules/mavlink/streams/COMMAND_LONG.hpp b/src/modules/mavlink/streams/COMMAND_LONG.hpp new file mode 100644 index 0000000000..bd36968110 --- /dev/null +++ b/src/modules/mavlink/streams/COMMAND_LONG.hpp @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 COMMAND_LONG_HPP +#define COMMAND_LONG_HPP + +#include + +class MavlinkStreamCommandLong : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCommandLong(mavlink); } + + static constexpr const char *get_name_static() { return "COMMAND_LONG"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COMMAND_LONG; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return 0; // commands stream is not regular and not predictable + } + +private: + explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; + + bool send() override + { + bool sent = false; + + static constexpr size_t COMMAND_LONG_SIZE = MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + + while ((_mavlink->get_free_tx_buf() >= COMMAND_LONG_SIZE) && _vehicle_command_sub.updated()) { + + const unsigned last_generation = _vehicle_command_sub.get_last_generation(); + vehicle_command_s cmd; + + if (_vehicle_command_sub.update(&cmd)) { + if (_vehicle_command_sub.get_last_generation() != last_generation + 1) { + PX4_ERR("COMMAND_LONG vehicle_command lost, generation %d -> %d", last_generation, + _vehicle_command_sub.get_last_generation()); + } + + if (!cmd.from_external && cmd.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) { + PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component); + + MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel()); + sent = true; + + } else { + PX4_DEBUG("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component); + } + } + } + + MavlinkCommandSender::instance().check_timeout(_mavlink->get_channel()); + + return sent; + } +}; + +#endif // COMMAND_LONG_HPP