COMMAND_LONG.hpp
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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.
*
****************************************************************************/
#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