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https://github.com/PX4/PX4-Autopilot.git
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8a8496d57e
* mavlink:COMMAND_INT - reject invalid frame * Add msg version for new command and use * Delete msg/px4_msgs_old/msg/VehicleCommandAck.msg:Zone.Identifier * Fix up translation * fix: translation_node build Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com> --------- Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com> Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
52 lines
1.9 KiB
C++
52 lines
1.9 KiB
C++
/****************************************************************************
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* Copyright (c) 2024 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate VehicleCommandAck v0 <--> v1
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#include <px4_msgs_old/msg/vehicle_command_ack_v0.hpp>
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#include <px4_msgs/msg/vehicle_command_ack.hpp>
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class VehicleCommandAckV1Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleCommandAckV0;
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static_assert(MessageOlder::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::msg::VehicleCommandAck;
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static_assert(MessageNewer::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "fmu/out/vehicle_command_ack";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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// Set msg_newer from msg_older
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.command = msg_older.command;
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msg_newer.result = msg_older.result;
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msg_newer.result_param1 = msg_older.result_param1;
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msg_newer.result_param2 = msg_older.result_param2;
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msg_newer.target_system = msg_older.target_system;
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msg_newer.target_component = msg_older.target_component;
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msg_newer.from_external = msg_older.from_external;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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// Set msg_older from msg_newer
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.command = msg_newer.command;
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if (msg_newer.result > msg_newer.VEHICLE_CMD_RESULT_CANCELLED) {
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msg_older.result = msg_older.VEHICLE_CMD_RESULT_DENIED;
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}
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else {
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msg_older.result = msg_newer.result;
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}
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msg_older.result_param1 = msg_newer.result_param1;
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msg_older.result_param2 = msg_newer.result_param2;
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msg_older.target_system = msg_newer.target_system;
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msg_older.target_component = msg_newer.target_component;
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msg_older.from_external = msg_newer.from_external;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleCommandAckV1Translation);
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