ACTUATOR_OUTPUT_STATUS.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 ACTUATOR_OUTPUT_STATUS_HPP
#define ACTUATOR_OUTPUT_STATUS_HPP
#include <uORB/topics/actuator_outputs.h>
class MavlinkStreamActuatorOutputStatus : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamActuatorOutputStatus(mavlink); }
static constexpr const char *get_name_static() { return "ACTUATOR_OUTPUT_STATUS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS; }
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_output_sub.advertised() ? (MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamActuatorOutputStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _act_output_sub{ORB_ID(actuator_outputs)};
bool send() override
{
actuator_outputs_s act;
if (_act_output_sub.update(&act)) {
mavlink_actuator_output_status_t msg{};
msg.time_usec = act.timestamp;
msg.active = act.noutputs;
static size_t actuator_outputs_size = act.noutputs;
static constexpr size_t mavlink_actuator_output_status_size = sizeof(msg.actuator) / sizeof(msg.actuator[0]);
for (unsigned i = 0; i < math::min(actuator_outputs_size, mavlink_actuator_output_status_size); i++) {
msg.actuator[i] = act.output[i];
}
mavlink_msg_actuator_output_status_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // ACTUATOR_OUTPUT_STATUS_HPP