ACTUATOR_CONTROL_TARGET.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 ACTUATOR_CONTROL_TARGET_HPP
#define ACTUATOR_CONTROL_TARGET_HPP
#include <uORB/topics/actuator_controls.h>
template <int N>
class MavlinkStreamActuatorControlTarget : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamActuatorControlTarget<N>(mavlink); }
static constexpr const char *get_name_static()
{
switch (N) {
case 0:
return "ACTUATOR_CONTROL_TARGET0";
case 1:
return "ACTUATOR_CONTROL_TARGET1";
case 2:
return "ACTUATOR_CONTROL_TARGET2";
case 3:
return "ACTUATOR_CONTROL_TARGET3";
}
}
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return (_act_ctrl_sub
&& _act_ctrl_sub->advertised()) ? (MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamActuatorControlTarget(Mavlink *mavlink) : MavlinkStream(mavlink)
{
// XXX this can be removed once the multiplatform system remaps topics
switch (N) {
case 0:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_0)};
break;
case 1:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_1)};
break;
case 2:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_2)};
break;
case 3:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_3)};
break;
}
}
~MavlinkStreamActuatorControlTarget() override
{
delete _act_ctrl_sub;
}
uORB::Subscription *_act_ctrl_sub{nullptr};
bool send() override
{
actuator_controls_s act_ctrl;
if (_act_ctrl_sub && _act_ctrl_sub->update(&act_ctrl)) {
mavlink_actuator_control_target_t msg{};
msg.time_usec = act_ctrl.timestamp;
msg.group_mlx = N;
for (unsigned i = 0; i < sizeof(msg.controls) / sizeof(msg.controls[0]); i++) {
msg.controls[i] = act_ctrl.control[i];
}
mavlink_msg_actuator_control_target_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // ACTUATOR_CONTROL_TARGET_HPP