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reformat with jazzy's ament_uncrustify
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@vooon
vooon committed Jun 7, 2024
1 parent 935a4bd commit 23c930c
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Showing 4 changed files with 42 additions and 38 deletions.
2 changes: 1 addition & 1 deletion mavros/include/mavros/px4_custom_mode.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,7 @@ union custom_mode {
}

constexpr custom_mode(uint8_t mm, uint8_t sm)
: mode{0, mm, sm}
: mode{0, mm, sm}
{
}
};
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2 changes: 1 addition & 1 deletion mavros/test/test_router.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,7 @@ class TestRouter : public ::testing::Test

auto make_and_add_mock_endpoint =
[router](id_t id, const std::string & url, LT type,
std::set<addr_t> remotes) {
std::set<addr_t> remotes) {
auto ep = std::make_shared<MockEndpoint>();

ep->parent = router;
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70 changes: 37 additions & 33 deletions mavros_extras/src/plugins/gimbal_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,13 +108,15 @@ class GimbalControlPlugin : public plugin::Plugin
_1));

// --Not successfully validated--
set_manager_attitude_sub = node->create_subscription<mavros_msgs::msg::GimbalManagerSetAttitude>(
set_manager_attitude_sub =
node->create_subscription<mavros_msgs::msg::GimbalManagerSetAttitude>(
"~/manager/set_attitude", 10, std::bind(
&GimbalControlPlugin::manager_set_attitude_cb, this,
_1));

// --Not successfully validated--
set_manager_pitchyaw_sub = node->create_subscription<mavros_msgs::msg::GimbalManagerSetPitchyaw>(
set_manager_pitchyaw_sub =
node->create_subscription<mavros_msgs::msg::GimbalManagerSetPitchyaw>(
"~/manager/set_pitchyaw", 10, std::bind(
&GimbalControlPlugin::manager_set_pitchyaw_cb, this,
_1));
Expand All @@ -132,16 +134,16 @@ class GimbalControlPlugin : public plugin::Plugin
10);

gimbal_manager_status_pub = node->create_publisher<mavros_msgs::msg::GimbalManagerStatus>(
"~/manager/status",
"~/manager/status",
10);

gimbal_manager_info_pub = node->create_publisher<mavros_msgs::msg::GimbalManagerInformation>(
"~/manager/info",
"~/manager/info",
10);

// --Not successfully validated--
gimbal_device_info_pub = node->create_publisher<mavros_msgs::msg::GimbalDeviceInformation>(
"~/device/info",
"~/device/info",
10);


Expand All @@ -151,7 +153,7 @@ class GimbalControlPlugin : public plugin::Plugin
"~/device/get_info", std::bind(
&GimbalControlPlugin::device_get_info_cb,
this, _1, _2));

gimbal_manager_info_srv = node->create_service<mavros_msgs::srv::GimbalGetInformation>(
"~/manager/get_info", std::bind(
&GimbalControlPlugin::manager_get_info_cb,
Expand All @@ -177,11 +179,13 @@ class GimbalControlPlugin : public plugin::Plugin
"~/manager/camera_track", std::bind(
&GimbalControlPlugin::manager_camera_track,
this, _1, _2));

// Client used by all services for sending mavros/cmd/command service calls, on a separate callback group to support nested service calls
cmdClient = node->create_client<mavros_msgs::srv::CommandLong>("cmd/command", rmw_qos_profile_services_default, cb_group);
cmdClient = node->create_client<mavros_msgs::srv::CommandLong>("cmd/command",
rmw_qos_profile_services_default, cb_group);
while (!cmdClient->wait_for_service(std::chrono::seconds(5))) {
RCLCPP_ERROR(node->get_logger(), "GimbalControl: mavros/cmd/command service not available after waiting");
RCLCPP_ERROR(node->get_logger(),
"GimbalControl: mavros/cmd/command service not available after waiting");
}
}

Expand All @@ -200,12 +204,16 @@ class GimbalControlPlugin : public plugin::Plugin
rclcpp::CallbackGroup::SharedPtr cb_group;
// Subscribers
rclcpp::Subscription<mavros_msgs::msg::GimbalDeviceSetAttitude>::SharedPtr set_device_attitude_sub;
rclcpp::Subscription<mavros_msgs::msg::GimbalManagerSetAttitude>::SharedPtr set_manager_attitude_sub;
rclcpp::Subscription<mavros_msgs::msg::GimbalManagerSetPitchyaw>::SharedPtr set_manager_pitchyaw_sub;
rclcpp::Subscription<mavros_msgs::msg::GimbalManagerSetPitchyaw>::SharedPtr set_manager_manual_control_sub;
rclcpp::Subscription<mavros_msgs::msg::GimbalManagerSetAttitude>::SharedPtr
set_manager_attitude_sub;
rclcpp::Subscription<mavros_msgs::msg::GimbalManagerSetPitchyaw>::SharedPtr
set_manager_pitchyaw_sub;
rclcpp::Subscription<mavros_msgs::msg::GimbalManagerSetPitchyaw>::SharedPtr
set_manager_manual_control_sub;

// Publishers
rclcpp::Publisher<mavros_msgs::msg::GimbalDeviceAttitudeStatus>::SharedPtr gimbal_attitude_status_pub;
rclcpp::Publisher<mavros_msgs::msg::GimbalDeviceAttitudeStatus>::SharedPtr
gimbal_attitude_status_pub;
rclcpp::Publisher<mavros_msgs::msg::GimbalManagerStatus>::SharedPtr gimbal_manager_status_pub;
rclcpp::Publisher<mavros_msgs::msg::GimbalManagerInformation>::SharedPtr gimbal_manager_info_pub;
rclcpp::Publisher<mavros_msgs::msg::GimbalDeviceInformation>::SharedPtr gimbal_device_info_pub;
Expand Down Expand Up @@ -435,7 +443,8 @@ class GimbalControlPlugin : public plugin::Plugin
* Note that message contents is identical to that of pitchyaw, so the message type is re-used here
* @param req - received GimbalControl msg
*/
void manager_set_manual_control_cb(const mavros_msgs::msg::GimbalManagerSetPitchyaw::SharedPtr req)
void manager_set_manual_control_cb(
const mavros_msgs::msg::GimbalManagerSetPitchyaw::SharedPtr req)
{
mavlink::common::msg::GIMBAL_MANAGER_SET_PITCHYAW msg {};
uas->msg_set_target(msg);
Expand Down Expand Up @@ -478,7 +487,9 @@ class GimbalControlPlugin : public plugin::Plugin
get_logger(), !res->success, "GimbalControl: plugin service call failed!");
}

void device_get_info_response(rclcpp::Client<mavros_msgs::srv::CommandLong>::SharedFuture response) {
void device_get_info_response(
rclcpp::Client<mavros_msgs::srv::CommandLong>::SharedFuture response)
{
auto result = response.get();

}
Expand Down Expand Up @@ -575,7 +586,7 @@ class GimbalControlPlugin : public plugin::Plugin
/**
* @brief Set Gimbal ROI mode and parameters
*
* Message specifications:
* Message specifications:
* https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_LOCATION
* https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET
* https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_SYSID
Expand All @@ -596,29 +607,25 @@ class GimbalControlPlugin : public plugin::Plugin
cmdrq->param5 = req->latitude;
cmdrq->param6 = req->longitude;
cmdrq->param7 = req->altitude;
}
else if (req->mode == req->ROI_MODE_WP_NEXT_OFFSET) {
} else if (req->mode == req->ROI_MODE_WP_NEXT_OFFSET) {
cmdrq->command = enum_value(MAV_CMD::DO_SET_ROI_WPNEXT_OFFSET);
cmdrq->param1 = req->gimbal_device_id;
cmdrq->param5 = req->pitch_offset;
cmdrq->param6 = req->roll_offset;
cmdrq->param7 = req->yaw_offset;
}
else if (req->mode == req->ROI_MODE_SYSID) {
} else if (req->mode == req->ROI_MODE_SYSID) {
cmdrq->command = enum_value(MAV_CMD::DO_SET_ROI_SYSID);
cmdrq->param1 = req->sysid;
cmdrq->param2 = req->gimbal_device_id;
}
else if (req->mode == req->ROI_MODE_NONE) {
} else if (req->mode == req->ROI_MODE_NONE) {
cmdrq->command = enum_value(MAV_CMD::DO_SET_ROI_NONE);
cmdrq->param1 = req->gimbal_device_id;
}
else {
} else {
res->success = false;
res->result = 2; // MAV_RESULT_DENIED - Command is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
return;
}

// RCLCPP_DEBUG(get_logger(), "GimbalManagerSetRoi for gimbal id: %u ", req->gimbal_device_id);
auto future = cmdClient->async_send_request(cmdrq);
auto response = future.get();
Expand All @@ -635,7 +642,7 @@ class GimbalControlPlugin : public plugin::Plugin
/**
* @brief Set camera tracking mode and parameters
*
* Message specifications:
* Message specifications:
* https://mavlink.io/en/messages/common.html#MAV_CMD_CAMERA_TRACK_POINT
* https://mavlink.io/en/messages/common.html#MAV_CMD_CAMERA_TRACK_RECTANGLE
* https://mavlink.io/en/messages/common.html#MAV_CMD_CAMERA_STOP_TRACKING
Expand All @@ -654,23 +661,20 @@ class GimbalControlPlugin : public plugin::Plugin
cmdrq->param1 = req->x;
cmdrq->param2 = req->y;
cmdrq->param3 = req->radius;
}
else if (req->mode == req->CAMERA_TRACK_MODE_RECTANGLE) {
} else if (req->mode == req->CAMERA_TRACK_MODE_RECTANGLE) {
cmdrq->command = enum_value(MAV_CMD::CAMERA_TRACK_RECTANGLE);
cmdrq->param1 = req->top_left_x;
cmdrq->param2 = req->top_left_y;
cmdrq->param3 = req->bottom_right_x;
cmdrq->param4 = req->bottom_right_y;
}
else if (req->mode == req->CAMERA_TRACK_MODE_STOP_TRACKING) {
} else if (req->mode == req->CAMERA_TRACK_MODE_STOP_TRACKING) {
cmdrq->command = enum_value(MAV_CMD::CAMERA_STOP_TRACKING);
}
else {
} else {
res->success = false;
res->result = 2; // MAV_RESULT_DENIED - Command is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
return;
}

auto future = cmdClient->async_send_request(cmdrq);
auto response = future.get();
res->success = response->success;
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6 changes: 3 additions & 3 deletions mavros_extras/src/plugins/trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -262,7 +262,7 @@ class TrajectoryPlugin : public plugin::Plugin

auto fill_point_rep_waypoints =
[&](mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS & t, const RosPoints & rp,
const size_t i) {
const size_t i) {
const auto valid = req->point_valid[i];

auto valid_so_far = trajectory.valid_points;
Expand Down Expand Up @@ -299,7 +299,7 @@ class TrajectoryPlugin : public plugin::Plugin
mavlink::common::msg::TRAJECTORY_REPRESENTATION_BEZIER trajectory {};
auto fill_point_rep_bezier =
[&](mavlink::common::msg::TRAJECTORY_REPRESENTATION_BEZIER & t, const RosPoints & rp,
const size_t i) {
const size_t i) {
const auto valid = req->point_valid[i];

auto valid_so_far = trajectory.valid_points;
Expand Down Expand Up @@ -382,7 +382,7 @@ class TrajectoryPlugin : public plugin::Plugin

auto fill_msg_point =
[&](RosPoints & p, const mavlink::common::msg::TRAJECTORY_REPRESENTATION_WAYPOINTS & t,
const size_t i) {
const size_t i) {
fill_msg_position(p.position, t, i);
fill_msg_velocity(p.velocity, t, i);
fill_msg_acceleration(p.acceleration_or_force, t, i);
Expand Down

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