drivers/uavcan: remove MAVLINK header dependency

msg/uavcan_parameter_request.msg

@@ -1,10 +1,22 @@
 # UAVCAN-MAVLink parameter bridge request type
 uint64 timestamp		# time since system start (microseconds)
-uint8 message_type		# MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET
+
+uint8 MESSAGE_TYPE_PARAM_REQUEST_READ = 20	# MAVLINK_MSG_ID_PARAM_REQUEST_READ
+uint8 MESSAGE_TYPE_PARAM_REQUEST_LIST = 21	# MAVLINK_MSG_ID_PARAM_REQUEST_LIST
+uint8 MESSAGE_TYPE_PARAM_SET = 23		# MAVLINK_MSG_ID_PARAM_SET
+uint8 message_type				# MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET
+
+uint8 NODE_ID_ALL = 0		# MAV_COMP_ID_ALL
 uint8 node_id			# UAVCAN node ID mapped from MAVLink component ID
+
 char[17] param_id		# MAVLink/UAVCAN parameter name
 int16 param_index		# -1 if the param_id field should be used as identifier
+
+uint8 PARAM_TYPE_UINT8 = 1	# MAV_PARAM_TYPE_UINT8
+uint8 PARAM_TYPE_INT64 = 8	# MAV_PARAM_TYPE_INT64
+uint8 PARAM_TYPE_REAL32 = 9	# MAV_PARAM_TYPE_REAL32
 uint8 param_type		# MAVLink parameter type
+
 int64 int_value			# current value if param_type is int-like
 float32 real_value		# current value if param_type is float-like
 

src/drivers/uavcan/CMakeLists.txt

@@ -102,7 +102,6 @@ px4_add_module(
 	MAIN uavcan
 	INCLUDES
 		${DSDLC_OUTPUT}
-		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 		libuavcan/libuavcan/include
 		libuavcan/libuavcan/include/dsdlc_generated
 		libuavcan/libuavcan_drivers/posix/include

src/drivers/uavcan/uavcan_servers.cpp

@@ -60,8 +60,6 @@
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/uavcan_parameter_request.h>
 
-#include <v2.0/common/mavlink.h>
-
 /**
  * @file uavcan_servers.cpp
  *
@@ -334,7 +332,7 @@ UavcanServers::run(pthread_addr_t)
 				 * We know how many parameters are exposed by this node, so
 				 * process the request.
 				 */
-				if (request.message_type == MAVLINK_MSG_ID_PARAM_REQUEST_READ) {
+				if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_READ) {
 					uavcan::protocol::param::GetSet::Request req;
 
 					if (request.param_index >= 0) {
@@ -354,7 +352,7 @@ UavcanServers::run(pthread_addr_t)
 						_param_index = request.param_index;
 					}
 
-				} else if (request.message_type == MAVLINK_MSG_ID_PARAM_SET) {
+				} else if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_SET) {
 					uavcan::protocol::param::GetSet::Request req;
 
 					if (request.param_index >= 0) {
@@ -364,10 +362,10 @@ UavcanServers::run(pthread_addr_t)
 						req.name = (char *)request.param_id;
 					}
 
-					if (request.param_type == MAV_PARAM_TYPE_REAL32) {
+					if (request.param_type == uavcan_parameter_request_s::PARAM_TYPE_REAL32) {
 						req.value.to<uavcan::protocol::param::Value::Tag::real_value>() = request.real_value;
 
-					} else if (request.param_type == MAV_PARAM_TYPE_UINT8) {
+					} else if (request.param_type == uavcan_parameter_request_s::PARAM_TYPE_UINT8) {
 						req.value.to<uavcan::protocol::param::Value::Tag::boolean_value>() = request.int_value;
 
 					} else {
@@ -387,7 +385,7 @@ UavcanServers::run(pthread_addr_t)
 						_param_index = request.param_index;
 					}
 
-				} else if (request.message_type == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {
+				} else if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_LIST) {
 					// This triggers the _param_list_in_progress case below.
 					_param_index = 0;
 					_param_list_in_progress = true;
@@ -397,8 +395,8 @@ UavcanServers::run(pthread_addr_t)
 					PX4_INFO("UAVCAN command bridge: starting component-specific param list");
 				}
 
-			} else if (request.node_id == MAV_COMP_ID_ALL) {
-				if (request.message_type == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {
+			} else if (request.node_id == uavcan_parameter_request_s::NODE_ID_ALL) {
+				if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_LIST) {
 					/*
 					 * This triggers the _param_list_in_progress case below,
 					 * but additionally iterates over all active nodes.
@@ -644,15 +642,15 @@ UavcanServers::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param
 			response.param_count = _param_counts[response.node_id];
 
 			if (param.value.is(uavcan::protocol::param::Value::Tag::integer_value)) {
-				response.param_type = MAV_PARAM_TYPE_INT64;
+				response.param_type = uavcan_parameter_request_s::PARAM_TYPE_INT64;
 				response.int_value = param.value.to<uavcan::protocol::param::Value::Tag::integer_value>();
 
 			} else if (param.value.is(uavcan::protocol::param::Value::Tag::real_value)) {
-				response.param_type = MAV_PARAM_TYPE_REAL32;
+				response.param_type = uavcan_parameter_request_s::PARAM_TYPE_REAL32;
 				response.real_value = param.value.to<uavcan::protocol::param::Value::Tag::real_value>();
 
 			} else if (param.value.is(uavcan::protocol::param::Value::Tag::boolean_value)) {
-				response.param_type = MAV_PARAM_TYPE_UINT8;
+				response.param_type = uavcan_parameter_request_s::PARAM_TYPE_UINT8;
 				response.int_value = param.value.to<uavcan::protocol::param::Value::Tag::boolean_value>();
 			}
 

src/modules/mavlink/mavlink_parameters.cpp

@@ -79,11 +79,11 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 			if (req_list.target_system == mavlink_system.sysid && req_list.target_component < 127 &&
 			    (req_list.target_component != mavlink_system.compid || req_list.target_component == MAV_COMP_ID_ALL)) {
 				// publish list request to UAVCAN driver via uORB.
-				uavcan_parameter_request_s req;
+				uavcan_parameter_request_s req{};
 				req.message_type = msg->msgid;
 				req.node_id = req_list.target_component;
 				req.param_index = 0;
-
+				req.timestamp = hrt_absolute_time();
 				_uavcan_parameter_request_pub.publish(req);
 			}
 
@@ -139,7 +139,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 			if (set.target_system == mavlink_system.sysid && set.target_component < 127 &&
 			    (set.target_component != mavlink_system.compid || set.target_component == MAV_COMP_ID_ALL)) {
 				// publish set request to UAVCAN driver via uORB.
-				uavcan_parameter_request_s req;
+				uavcan_parameter_request_s req{};
 				req.message_type = msg->msgid;
 				req.node_id = set.target_component;
 				req.param_index = -1;
@@ -157,6 +157,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 					req.int_value = val;
 				}
 
+				req.timestamp = hrt_absolute_time();
 				_uavcan_parameter_request_pub.publish(req);
 			}
 
@@ -217,7 +218,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 			if (req_read.target_system == mavlink_system.sysid && req_read.target_component < 127 &&
 			    (req_read.target_component != mavlink_system.compid || req_read.target_component == MAV_COMP_ID_ALL)) {
 				// publish set request to UAVCAN driver via uORB.
-				uavcan_parameter_request_s req = {};
+				uavcan_parameter_request_s req{};
 				req.timestamp = hrt_absolute_time();
 				req.message_type = msg->msgid;
 				req.node_id = req_read.target_component;

src/modules/mavlink/mavlink_parameters.h

@@ -130,6 +130,21 @@ protected:
 	rc_parameter_map_s _rc_param_map{};
 
 	uORB::PublicationQueued<uavcan_parameter_request_s> _uavcan_parameter_request_pub{ORB_ID(uavcan_parameter_request)};
+	// enforce ORB_ID(uavcan_parameter_request) constants that map to MAVLINK defines
+	static_assert(uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_READ == MAVLINK_MSG_ID_PARAM_REQUEST_READ,
+		      "uavcan_parameter_request_s MAVLINK_MSG_ID_PARAM_REQUEST_READ constant mismatch");
+	static_assert(uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_SET == MAVLINK_MSG_ID_PARAM_SET,
+		      "uavcan_parameter_request_s MAVLINK_MSG_ID_PARAM_SET constant mismatch");
+	static_assert(uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_LIST == MAVLINK_MSG_ID_PARAM_REQUEST_LIST,
+		      "uavcan_parameter_request_s MAVLINK_MSG_ID_PARAM_REQUEST_LIST constant mismatch");
+	static_assert(uavcan_parameter_request_s::NODE_ID_ALL == MAV_COMP_ID_ALL,
+		      "uavcan_parameter_request_s MAV_COMP_ID_ALL constant mismatch");
+	static_assert(uavcan_parameter_request_s::PARAM_TYPE_UINT8 == MAV_PARAM_TYPE_UINT8,
+		      "uavcan_parameter_request_s MAV_PARAM_TYPE_UINT8 constant mismatch");
+	static_assert(uavcan_parameter_request_s::PARAM_TYPE_REAL32 == MAV_PARAM_TYPE_REAL32,
+		      "uavcan_parameter_request_s MAV_PARAM_TYPE_REAL32 constant mismatch");
+	static_assert(uavcan_parameter_request_s::PARAM_TYPE_INT64 == MAV_PARAM_TYPE_INT64,
+		      "uavcan_parameter_request_s MAV_PARAM_TYPE_INT64 constant mismatch");
 
 	uORB::Subscription _uavcan_parameter_value_sub{ORB_ID(uavcan_parameter_value)};