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/****************************************************************************
*
* 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>
#pragma once
#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 <drivers/drv_rc_input.h>
#include <uORB/topics/navigation_capabilities.h>
#include <uORB/topics/mission.h>
class Mavlink;
class MavlinkOrbListener
{
public:
/**
* Constructor
*/
MavlinkOrbListener(Mavlink* parent);
/**
* Destructor, also kills the mavlinks task.
*/
~MavlinkOrbListener();
static pthread_t uorb_receive_start(Mavlink *mavlink);
struct listener {
void (*callback)(const struct listener *l);
int *subp;
uintptr_t arg;
struct listener *next;
Mavlink *mavlink;
MavlinkOrbListener* listener;
};
void add_listener(void (*callback)(const struct listener *l), int *subp, uintptr_t arg);
static void * uorb_start_helper(void *context);
private:
perf_counter_t _loop_perf; /**< loop performance counter */
Mavlink* _mavlink;
struct listener *_listeners;
unsigned _n_listeners;
static const unsigned _max_listeners = 32;
void *uorb_receive_thread(void *arg);
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);
struct vehicle_global_position_s global_pos;
struct vehicle_local_position_s local_pos;
struct navigation_capabilities_s nav_cap;
struct vehicle_status_s v_status;
struct rc_channels_s rc;
struct rc_input_values rc_raw;
struct actuator_armed_s armed;
struct actuator_controls_s actuators_0;
struct vehicle_attitude_s att;
struct airspeed_s airspeed;
struct home_position_s home;
unsigned int sensors_raw_counter;
unsigned int attitude_counter;
unsigned int gps_counter;
/*
* Last sensor loop time
* some outputs are better timestamped
* with this "global" reference.
*/
uint64_t last_sensor_timestamp;
hrt_abstime last_sent_vfr;
};
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