SYS_STATUS.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 SYS_STATUS_HPP
#define SYS_STATUS_HPP
#include <uORB/topics/battery_status.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/vehicle_status.h>
class MavlinkStreamSysStatus : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSysStatus(mavlink); }
static constexpr const char *get_name_static() { return "SYS_STATUS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SYS_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 MAVLINK_MSG_ID_SYS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
explicit MavlinkStreamSysStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _cpuload_sub{ORB_ID(cpuload)};
uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
bool send() override
{
if (_status_sub.updated() || _cpuload_sub.updated() || _battery_status_subs.updated()) {
vehicle_status_s status{};
_status_sub.copy(&status);
cpuload_s cpuload{};
_cpuload_sub.copy(&cpuload);
battery_status_s battery_status[battery_status_s::MAX_INSTANCES] {};
for (int i = 0; i < _battery_status_subs.size(); i++) {
_battery_status_subs[i].copy(&battery_status[i]);
}
int lowest_battery_index = 0;
// No battery is connected, select the first group
// Low battery judgment is performed only when the current battery is connected
// When the last cached battery is not connected or the current battery level is lower than the cached battery level,
// the current battery status is replaced with the cached value
for (int i = 0; i < _battery_status_subs.size(); i++) {
if (battery_status[i].connected && ((!battery_status[lowest_battery_index].connected)
|| (battery_status[i].remaining < battery_status[lowest_battery_index].remaining))) {
lowest_battery_index = i;
}
}
mavlink_sys_status_t msg{};
msg.onboard_control_sensors_present = status.onboard_control_sensors_present;
msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled;
msg.onboard_control_sensors_health = status.onboard_control_sensors_health;
msg.load = cpuload.load * 1000.0f;
// TODO: Determine what data should be put here when there are multiple batteries.
// Right now, it uses the lowest battery. This is a safety decision, because if a client is only checking
// one battery using this message, it should be the lowest.
// In the future, this should somehow determine the "main" battery, or use the "type" field of BATTERY_STATUS
// to determine which battery is more important at a given time.
const battery_status_s &lowest_battery = battery_status[lowest_battery_index];
if (lowest_battery.connected) {
msg.voltage_battery = lowest_battery.voltage_filtered_v * 1000.0f;
msg.current_battery = lowest_battery.current_filtered_a * 100.0f;
msg.battery_remaining = ceilf(lowest_battery.remaining * 100.0f);
} else {
msg.voltage_battery = UINT16_MAX;
msg.current_battery = -1;
msg.battery_remaining = -1;
}
mavlink_msg_sys_status_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // SYS_STATUS_HPP