GIMBAL_MANAGER_INFORMATION.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 GIMBAL_MANAGER_INFORMATION_HPP
#define GIMBAL_MANAGER_INFORMATION_HPP
#include <uORB/topics/gimbal_manager_information.h>
class MavlinkStreamGimbalManagerInformation : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalManagerInformation(mavlink); }
static constexpr const char *get_name_static() { return "GIMBAL_MANAGER_INFORMATION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
if (_gimbal_manager_information_sub.advertised()) {
return MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
private:
explicit MavlinkStreamGimbalManagerInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _gimbal_manager_information_sub{ORB_ID(gimbal_manager_information)};
bool send() override
{
gimbal_manager_information_s gimbal_manager_information;
if (_gimbal_manager_information_sub.advertised() && _gimbal_manager_information_sub.copy(&gimbal_manager_information)) {
// send out gimbal_manager_info with info from gimbal_manager_information
mavlink_gimbal_manager_information_t msg{};
msg.time_boot_ms = gimbal_manager_information.timestamp / 1000;
msg.cap_flags = gimbal_manager_information.cap_flags;
msg.gimbal_device_id = 0;
msg.roll_min = gimbal_manager_information.roll_min;
msg.roll_max = gimbal_manager_information.roll_max;
msg.pitch_min = gimbal_manager_information.pitch_min;
msg.pitch_max = gimbal_manager_information.pitch_max;
msg.yaw_min = gimbal_manager_information.yaw_min;
msg.yaw_max = gimbal_manager_information.yaw_max;
mavlink_msg_gimbal_manager_information_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // GIMBAL_MANAGER_INFORMATION_HPP