TRAJECTORY_REPRESENTATION_WAYPOINTS.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 TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP
#define TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP
#include <uORB/topics/vehicle_trajectory_waypoint.h>
class MavlinkStreamTrajectoryRepresentationWaypoints: public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamTrajectoryRepresentationWaypoints(mavlink); }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
static constexpr const char *get_name_static() { return "TRAJECTORY_REPRESENTATION_WAYPOINTS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS; }
unsigned get_size() override
{
if (_traj_wp_avoidance_sub.advertised()) {
return MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
private:
explicit MavlinkStreamTrajectoryRepresentationWaypoints(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _traj_wp_avoidance_sub{ORB_ID(vehicle_trajectory_waypoint_desired)};
bool send() override
{
vehicle_trajectory_waypoint_s traj_wp_avoidance_desired;
if (_traj_wp_avoidance_sub.update(&traj_wp_avoidance_desired)) {
mavlink_trajectory_representation_waypoints_t msg{};
msg.time_usec = traj_wp_avoidance_desired.timestamp;
int number_valid_points = 0;
for (int i = 0; i < vehicle_trajectory_waypoint_s::NUMBER_POINTS; ++i) {
msg.pos_x[i] = traj_wp_avoidance_desired.waypoints[i].position[0];
msg.pos_y[i] = traj_wp_avoidance_desired.waypoints[i].position[1];
msg.pos_z[i] = traj_wp_avoidance_desired.waypoints[i].position[2];
msg.vel_x[i] = traj_wp_avoidance_desired.waypoints[i].velocity[0];
msg.vel_y[i] = traj_wp_avoidance_desired.waypoints[i].velocity[1];
msg.vel_z[i] = traj_wp_avoidance_desired.waypoints[i].velocity[2];
msg.acc_x[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[0];
msg.acc_y[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[1];
msg.acc_z[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[2];
msg.pos_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw;
msg.vel_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw_speed;
switch (traj_wp_avoidance_desired.waypoints[i].type) {
case position_setpoint_s::SETPOINT_TYPE_TAKEOFF:
msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
break;
case position_setpoint_s::SETPOINT_TYPE_LOITER:
msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
break;
case position_setpoint_s::SETPOINT_TYPE_LAND:
msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
break;
default:
msg.command[i] = UINT16_MAX;
}
if (traj_wp_avoidance_desired.waypoints[i].point_valid) {
number_valid_points++;
}
}
msg.valid_points = number_valid_points;
mavlink_msg_trajectory_representation_waypoints_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP