OBSTACLE_DISTANCE.hpp
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/****************************************************************************
*
* Copyright (c) 2020 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 OBSTACLE_DISTANCE_HPP
#define OBSTACLE_DISTANCE_HPP
#include <uORB/topics/obstacle_distance.h>
class MavlinkStreamObstacleDistance : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamObstacleDistance(mavlink); }
static constexpr const char *get_name_static() { return "OBSTACLE_DISTANCE"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_OBSTACLE_DISTANCE; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _obstacle_distance_fused_sub.advertised() ? (MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN +
MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamObstacleDistance(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _obstacle_distance_fused_sub{ORB_ID(obstacle_distance_fused)};
bool send() override
{
obstacle_distance_s obstacle_distance;
if (_obstacle_distance_fused_sub.update(&obstacle_distance)) {
mavlink_obstacle_distance_t msg{};
msg.time_usec = obstacle_distance.timestamp;
msg.sensor_type = obstacle_distance.sensor_type;
memcpy(msg.distances, obstacle_distance.distances, sizeof(msg.distances));
msg.increment = 0;
msg.min_distance = obstacle_distance.min_distance;
msg.max_distance = obstacle_distance.max_distance;
msg.angle_offset = obstacle_distance.angle_offset;
msg.increment_f = obstacle_distance.increment;
msg.frame = obstacle_distance.frame;
mavlink_msg_obstacle_distance_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // OBSTACLE_DISTANCE_HPP