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author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-24 12:10:21 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-24 12:10:21 +0200 |
commit | 9df1da1b7cd140e9452c73c6307befeadd6ce4c5 (patch) | |
tree | 018235f3577491420d844ea66174a82c1202f92f /src/modules/mavlink/mavlink_messages.cpp | |
parent | ea2dce39927b7afcdfae79c059cc57342c70904e (diff) | |
download | px4-firmware-9df1da1b7cd140e9452c73c6307befeadd6ce4c5.tar.gz px4-firmware-9df1da1b7cd140e9452c73c6307befeadd6ce4c5.tar.bz2 px4-firmware-9df1da1b7cd140e9452c73c6307befeadd6ce4c5.zip |
mavlink: STATUSTEXT implemented via streams API
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 110 |
1 files changed, 92 insertions, 18 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 863b7a1d4..4333369fe 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -40,9 +40,9 @@ */ #include <stdio.h> + #include <commander/px4_custom_mode.h> #include <lib/geo/geo.h> - #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/vehicle_attitude.h> @@ -72,8 +72,8 @@ #include <drivers/drv_rc_input.h> #include <drivers/drv_pwm_output.h> #include <drivers/drv_range_finder.h> - #include <systemlib/err.h> +#include <mavlink/mavlink_log.h> #include "mavlink_messages.h" #include "mavlink_main.h" @@ -306,6 +306,77 @@ protected: } }; +class MavlinkStreamStatustext : public MavlinkStream +{ +public: + const char *get_name() const + { + return MavlinkStreamStatustext::get_name_static(); + } + + static const char *get_name_static() + { + return "STATUSTEXT"; + } + + uint8_t get_id() + { + return MAVLINK_MSG_ID_STATUSTEXT; + } + + static MavlinkStream *new_instance(Mavlink *mavlink) + { + return new MavlinkStreamStatustext(mavlink); + } + + unsigned get_size() { + return mavlink_logbuffer_is_empty(_mavlink->get_logbuffer()) ? 0 : (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES); + } + +private: + /* do not allow top copying this class */ + MavlinkStreamStatustext(MavlinkStreamStatustext &); + MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &); + +protected: + explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink) + {} + + void send(const hrt_abstime t) + { + if (!mavlink_logbuffer_is_empty(_mavlink->get_logbuffer())) { + struct mavlink_logmessage logmsg; + int lb_ret = mavlink_logbuffer_read(_mavlink->get_logbuffer(), &logmsg); + + if (lb_ret == OK) { + mavlink_statustext_t msg; + + /* map severity */ + switch (logmsg.severity) { + case MAVLINK_IOC_SEND_TEXT_INFO: + msg.severity = MAV_SEVERITY_INFO; + break; + + case MAVLINK_IOC_SEND_TEXT_CRITICAL: + msg.severity = MAV_SEVERITY_CRITICAL; + break; + + case MAVLINK_IOC_SEND_TEXT_EMERGENCY: + msg.severity = MAV_SEVERITY_EMERGENCY; + break; + + default: + msg.severity = MAV_SEVERITY_INFO; + break; + } + strncpy(msg.text, logmsg.text, sizeof(msg.text)); + + _mavlink->send_message(MAVLINK_MSG_ID_STATUSTEXT, &msg); + } + } + } +}; + class MavlinkStreamCommandLong : public MavlinkStream { public: @@ -329,7 +400,9 @@ public: return new MavlinkStreamCommandLong(mavlink); } - unsigned get_size() { return 0; } // commands stream is not regular and not predictable + unsigned get_size() { + return 0; // commands stream is not regular and not predictable + } private: MavlinkOrbSubscription *_cmd_sub; @@ -352,21 +425,21 @@ protected: if (_cmd_sub->update(&_cmd_time, &cmd)) { /* only send commands for other systems/components */ if (cmd.target_system != mavlink_system.sysid || cmd.target_component != mavlink_system.compid) { - mavlink_command_long_t mavcmd; - - mavcmd.target_system = cmd.target_system; - mavcmd.target_component = cmd.target_component; - mavcmd.command = cmd.command; - mavcmd.confirmation = cmd.confirmation; - mavcmd.param1 = cmd.param1; - mavcmd.param2 = cmd.param2; - mavcmd.param3 = cmd.param3; - mavcmd.param4 = cmd.param4; - mavcmd.param5 = cmd.param5; - mavcmd.param6 = cmd.param6; - mavcmd.param7 = cmd.param7; - - _mavlink->send_message(MAVLINK_MSG_ID_COMMAND_LONG, &mavcmd); + mavlink_command_long_t msg; + + msg.target_system = cmd.target_system; + msg.target_component = cmd.target_component; + msg.command = cmd.command; + msg.confirmation = cmd.confirmation; + msg.param1 = cmd.param1; + msg.param2 = cmd.param2; + msg.param3 = cmd.param3; + msg.param4 = cmd.param4; + msg.param5 = cmd.param5; + msg.param6 = cmd.param6; + msg.param7 = cmd.param7; + + _mavlink->send_message(MAVLINK_MSG_ID_COMMAND_LONG, &msg); } } } @@ -1996,6 +2069,7 @@ protected: StreamListItem *streams_list[] = { new StreamListItem(&MavlinkStreamHeartbeat::new_instance, &MavlinkStreamHeartbeat::get_name_static), + new StreamListItem(&MavlinkStreamStatustext::new_instance, &MavlinkStreamStatustext::get_name_static), new StreamListItem(&MavlinkStreamCommandLong::new_instance, &MavlinkStreamCommandLong::get_name_static), new StreamListItem(&MavlinkStreamSysStatus::new_instance, &MavlinkStreamSysStatus::get_name_static), new StreamListItem(&MavlinkStreamHighresIMU::new_instance, &MavlinkStreamHighresIMU::get_name_static), |