diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_orb_listener.h')
| -rw-r--r-- | src/modules/mavlink/mavlink_orb_listener.h | 138 |
1 files changed, 0 insertions, 138 deletions
diff --git a/src/modules/mavlink/mavlink_orb_listener.h b/src/modules/mavlink/mavlink_orb_listener.h deleted file mode 100644 index 1a103e43d..000000000 --- a/src/modules/mavlink/mavlink_orb_listener.h +++ /dev/null @@ -1,138 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2014 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. - * - ****************************************************************************/ - -/** - * @file mavlink_orb_listener.h - * MAVLink 1.0 protocol interface definition. - * - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - */ - -#include <systemlib/perf_counter.h> -#include <pthread.h> - -#pragma once - -#include <drivers/drv_rc_input.h> - -#include <uORB/topics/sensor_combined.h> -#include <uORB/topics/rc_channels.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_gps_position.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_local_position.h> -#include <uORB/topics/home_position.h> -#include <uORB/topics/vehicle_status.h> -#include <uORB/topics/offboard_control_setpoint.h> -#include <uORB/topics/vehicle_command.h> -#include <uORB/topics/vehicle_local_position_setpoint.h> -#include <uORB/topics/vehicle_vicon_position.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/optical_flow.h> -#include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_controls_effective.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_armed.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/telemetry_status.h> -#include <uORB/topics/debug_key_value.h> -#include <uORB/topics/airspeed.h> -#include <uORB/topics/battery_status.h> -#include <uORB/topics/position_setpoint_triplet.h> -#include <uORB/topics/navigation_capabilities.h> -#include <uORB/topics/mission.h> - -#include "mavlink_orb_subscription.h" -#include "mavlink_stream.h" - -class Mavlink; -class MavlinkStream; - -class MavlinkOrbListener -{ -public: - /** - * Constructor - */ - MavlinkOrbListener(Mavlink* parent); - - /** - * Destructor, closes all subscriptions. - */ - ~MavlinkOrbListener(); - - static pthread_t uorb_receive_start(Mavlink *mavlink); - - MavlinkOrbSubscription *add_subscription(const struct orb_metadata *meta, size_t size, const MavlinkStream *stream, const unsigned int interval); - void add_stream(void (*callback)(const MavlinkStream *), const unsigned int subs_n, const struct orb_metadata **metas, const size_t *sizes, const uintptr_t arg, const unsigned int interval); - static void * uorb_start_helper(void *context); - -private: - - perf_counter_t _loop_perf; /**< loop performance counter */ - - Mavlink* _mavlink; - - MavlinkOrbSubscription *_subscriptions; - static const unsigned _max_subscriptions = 32; - MavlinkStream *_streams; - - void *uorb_receive_thread(void *arg); - - static void msg_heartbeat(const MavlinkStream *stream); - -// static void l_sensor_combined(const struct listener *l); -// static void l_vehicle_attitude(const struct listener *l); -// static void l_vehicle_gps_position(const struct listener *l); -// static void l_vehicle_status(const struct listener *l); -// static void l_rc_channels(const struct listener *l); -// static void l_input_rc(const struct listener *l); -// static void l_global_position(const struct listener *l); -// static void l_local_position(const struct listener *l); -// static void l_global_position_setpoint(const struct listener *l); -// static void l_local_position_setpoint(const struct listener *l); -// static void l_attitude_setpoint(const struct listener *l); -// static void l_actuator_outputs(const struct listener *l); -// static void l_actuator_armed(const struct listener *l); -// static void l_manual_control_setpoint(const struct listener *l); -// static void l_vehicle_attitude_controls(const struct listener *l); -// static void l_debug_key_value(const struct listener *l); -// static void l_optical_flow(const struct listener *l); -// static void l_vehicle_rates_setpoint(const struct listener *l); -// static void l_home(const struct listener *l); -// static void l_airspeed(const struct listener *l); -// static void l_nav_cap(const struct listener *l); - -}; |