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Add mavlink support for GIMBAL_DEVICE_INFORMATION
Signed-off-by: Claudio Micheli <claudio@auterion.com>
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/**************************************************************************** | ||
* | ||
* 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. | ||
* | ||
****************************************************************************/ | ||
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#ifndef GIMBAL_DEVICE_INFORMATION_HPP | ||
#define GIMBAL_DEVICE_INFORMATION_HPP | ||
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#include <uORB/topics/gimbal_device_information.h> | ||
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class MavlinkStreamGimbalDeviceInformation : public MavlinkStream | ||
{ | ||
public: | ||
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalDeviceInformation(mavlink); } | ||
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static constexpr const char *get_name_static() { return "GIMBAL_DEVICE_INFORMATION"; } | ||
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION; } | ||
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const char *get_name() const override { return get_name_static(); } | ||
uint16_t get_id() override { return get_id_static(); } | ||
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unsigned get_size() override | ||
{ | ||
if (_gimbal_device_information_sub.advertised()) { | ||
return MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; | ||
} | ||
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return 0; | ||
} | ||
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private: | ||
explicit MavlinkStreamGimbalDeviceInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {} | ||
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uORB::Subscription _gimbal_device_information_sub{ORB_ID(gimbal_device_information)}; | ||
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bool send() override | ||
{ | ||
gimbal_device_information_s gimbal_device_information; | ||
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if (_gimbal_device_information_sub.advertised() && _gimbal_device_information_sub.copy(&gimbal_device_information)) { | ||
// send out gimbal_device_info with info from gimbal_device_information | ||
mavlink_gimbal_device_information_t msg{}; | ||
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msg.time_boot_ms = gimbal_device_information.timestamp / 1000; | ||
memcpy(msg.vendor_name, gimbal_device_information.vendor_name, sizeof(gimbal_device_information.vendor_name)); | ||
memcpy(msg.model_name, gimbal_device_information.model_name, sizeof(gimbal_device_information.model_name)); | ||
memcpy(msg.custom_name, gimbal_device_information.custom_name, sizeof(gimbal_device_information.custom_name)); | ||
msg.firmware_version = gimbal_device_information.firmware_version; | ||
msg.hardware_version = gimbal_device_information.hardware_version; | ||
msg.uid = gimbal_device_information.uid; | ||
msg.cap_flags = gimbal_device_information.cap_flags; | ||
msg.roll_min = gimbal_device_information.roll_min; | ||
msg.roll_max = gimbal_device_information.roll_max; | ||
msg.pitch_min = gimbal_device_information.pitch_min; | ||
msg.pitch_max = gimbal_device_information.pitch_max; | ||
msg.yaw_min = gimbal_device_information.yaw_min; | ||
msg.yaw_max = gimbal_device_information.yaw_max; | ||
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mavlink_msg_gimbal_device_information_send_struct(_mavlink->get_channel(), &msg); | ||
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return true; | ||
} | ||
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return false; | ||
} | ||
}; | ||
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#endif // GIMBAL_DEVICE_INFORMATION_HPP |