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mavlink: move COMMAND_LONG to separate stream header

release/1.12
Daniel Agar 4 years ago
parent
801202f208
commit
b955c41a63
2 changed files with 98 additions and 77 deletions
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  1. 80
      src/modules/mavlink/mavlink_messages.cpp
  2. 95
      src/modules/mavlink/streams/COMMAND_LONG.hpp

80
src/modules/mavlink/mavlink_messages.cpp
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@ -104,6 +104,7 @@ using matrix::wrap_2pi;
#include "streams/BATTERY_STATUS.hpp" #include "streams/BATTERY_STATUS.hpp"
#include "streams/CAMERA_IMAGE_CAPTURED.hpp" #include "streams/CAMERA_IMAGE_CAPTURED.hpp"
#include "streams/COLLISION.hpp" #include "streams/COLLISION.hpp"
#include "streams/COMMAND_LONG.hpp"
#include "streams/COMPONENT_INFORMATION.hpp" #include "streams/COMPONENT_INFORMATION.hpp"
#include "streams/DISTANCE_SENSOR.hpp" #include "streams/DISTANCE_SENSOR.hpp"
#include "streams/ESC_INFO.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 class MavlinkStreamCameraTrigger : public MavlinkStream
{ {
public: public:
@ -746,7 +670,9 @@ static const StreamListItem streams_list[] = {
#if defined(STATUSTEXT_HPP) #if defined(STATUSTEXT_HPP)
create_stream_list_item<MavlinkStreamStatustext>(), create_stream_list_item<MavlinkStreamStatustext>(),
#endif // STATUSTEXT_HPP #endif // STATUSTEXT_HPP
#if defined(COMMAND_LONG_HPP)
create_stream_list_item<MavlinkStreamCommandLong>(), create_stream_list_item<MavlinkStreamCommandLong>(),
#endif // COMMAND_LONG_HPP
#if defined(SYSTEM_TIME_HPP) #if defined(SYSTEM_TIME_HPP)
create_stream_list_item<MavlinkStreamSysStatus>(), create_stream_list_item<MavlinkStreamSysStatus>(),
#endif // SYSTEM_TIME_HPP #endif // SYSTEM_TIME_HPP

95
src/modules/mavlink/streams/COMMAND_LONG.hpp
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@ -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 <uORB/topics/vehicle_command.h>
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
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