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mavlink: move TIMESYNC to separate stream header

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This commit is contained in:
Daniel Agar
2021-02-20 14:01:22 -05:00
parent 849000ebeb
commit 462d67f2b6
2 changed files with 74 additions and 55 deletions
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58
src/modules/mavlink/mavlink_messages.cpp
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@@ -135,6 +135,7 @@ using matrix::wrap_2pi;
#include "streams/STATUSTEXT.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
#include "streams/SYSTEM_TIME.hpp"
#include "streams/TIMESYNC.hpp"
#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
#include "streams/VIBRATION.hpp"
#include "streams/WIND_COV.hpp"
@@ -1593,61 +1594,6 @@ protected:
};
#endif
class MavlinkStreamTimesync : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamTimesync::get_name_static();
}
static constexpr const char *get_name_static()
{
return "TIMESYNC";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_TIMESYNC;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamTimesync(mavlink);
}
unsigned get_size() override
{
return MAVLINK_MSG_ID_TIMESYNC_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
/* do not allow top copying this class */
MavlinkStreamTimesync(MavlinkStreamTimesync &) = delete;
MavlinkStreamTimesync &operator = (const MavlinkStreamTimesync &) = delete;
protected:
explicit MavlinkStreamTimesync(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
mavlink_timesync_t msg{};
msg.tc1 = 0;
msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds
mavlink_msg_timesync_send_struct(_mavlink->get_channel(), &msg);
return true;
}
};
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
@@ -1865,7 +1811,9 @@ static const StreamListItem streams_list[] = {
#if defined(SYSTEM_TIME_HPP)
create_stream_list_item<MavlinkStreamSystemTime>(),
#endif // SYSTEM_TIME_HPP
#if defined(TIMESYNC_HPP)
create_stream_list_item<MavlinkStreamTimesync>(),
#endif // TIMESYNC_HPP
#if defined(GLOBAL_POSITION_INT_HPP)
create_stream_list_item<MavlinkStreamGlobalPositionInt>(),
#endif // GLOBAL_POSITION_INT_HPP