added translation for ArmingCheckReply.msg

Signed-off-by: RomanBapst <[email protected]>

msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg

@@ -0,0 +1,35 @@
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # time since system start (microseconds)
+
+uint8 request_id
+uint8 registration_id
+
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0
+
+uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
+bool health_component_is_present
+bool health_component_warning
+bool health_component_error
+
+bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run
+
+uint8 num_events
+
+Event[5] events
+
+# Mode requirements
+bool mode_req_angular_velocity
+bool mode_req_attitude
+bool mode_req_local_alt
+bool mode_req_local_position
+bool mode_req_local_position_relaxed
+bool mode_req_global_position
+bool mode_req_global_position_relaxed
+bool mode_req_mission
+bool mode_req_home_position
+bool mode_req_prevent_arming
+bool mode_req_manual_control
+
+
+uint8 ORB_QUEUE_LENGTH = 4

msg/translation_node/translations/all_translations.h

@@ -11,3 +11,4 @@
 //#include "example_translation_service_v1.h"
 
 #include "translation_vehicle_status_v1.h"
+#include "translation_arming_check_reply_v1.h"

msg/translation_node/translations/translation_arming_check_reply_v1.h

@@ -0,0 +1,80 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate ArmingCheckReply v0 <--> v1
+#include <px4_msgs_old/msg/arming_check_reply_v0.hpp>
+#include <px4_msgs/msg/arming_check_reply.hpp>
+
+class ArmingCheckReplyV1Translation {
+public:
+    using MessageOlder = px4_msgs_old::msg::ArmingCheckReplyV0;
+    static_assert(MessageOlder::Request::MESSAGE_VERSION == 0);
+
+    using MessageNewer = px4_msgs::msg::ArmingCheckReplyV1;
+    static_assert(MessageNewer::Request::MESSAGE_VERSION == 1);
+
+    static constexpr const char* kTopic = "/fmu/in/arming_check_reply";
+
+    static void fromOlder(const MessageOlder::Request &msg_older, MessageNewer::Request &msg_newer) {
+	    // Request: set msg_newer from msg_older
+	    msg_newer.timestamp = msg_older.timestamp;
+
+	    msg_newer.request_id = msg_older.request_id;
+	    msg_newer.registration_id = msg_older.registration_id;
+
+	    msg_newer.health_component_index = msg_older.health_component_index;
+	    msg_newer.health_component_is_present = msg_older.health_component_is_present;
+	    msg_newer.health_component_warning = msg_older.health_component_warning;
+	    msg_newer.health_component_error = msg_older.health_component_error;
+
+	    msg_newer.can_arm_and_run = msg_older.can_arm_and_run;
+
+	    memcpy(msg_newer.events, msg_older.events, sizeof(Event));
+
+	    msg_newer.mode_req_angular_velocity = msg_older.mode_req_angular_velocity;
+	    msg_newer.mode_req_attitude = msg_older.mode_req_attitude;
+	    msg_newer.mode_req_local_alt = msg_older.mode_req_local_alt;
+	    msg_newer.mode_req_local_position = msg_older.ode_req_local_position;
+	    msg_newer.mode_req_local_position_relaxed = msg_older.ode_req_local_position_relaxed;
+	    msg_newer.ode_req_global_position = msg_older.ode_req_global_position;
+	    msg_newer.mode_req_global_position_relaxed = false;
+	    msg_newer.mode_req_mission = msg_older.mode_req_mission;
+	    msg_newer.mode_req_home_position = msg_older.mode_req_home_position;
+	    msg_newer.mode_req_prevent_arming = msg_older.mode_req_prevent_arming;
+	    msg_newer.mode_req_manual_control = msg_older.mode_req_manual_control;
+
+    }
+
+    static void toOlder(const MessageNewer::Request &msg_newer, MessageOlder::Request &msg_older) {
+	    // Request: set msg_older from msg_newer
+	    msg_older.timestamp = msg_newer.timestamp;
+
+	    msg_older.request_id = msg_newer.request_id;
+	    msg_older.registration_id = msg_newer.registration_id;
+
+	    msg_older.health_component_index = msg_newer.health_component_index;
+	    msg_older.health_component_is_present = msg_newer.health_component_is_present;
+	    msg_older.health_component_warning = msg_newer.health_component_warning;
+	    msg_older.health_component_error = msg_newer.health_component_error;
+
+	    msg_older.can_arm_and_run = msg_newer.can_arm_and_run;
+
+	    memcpy(msg_older.events, msg_newer.events, sizeof(Event));
+
+	    msg_older.mode_req_angular_velocity = msg_newer.mode_req_angular_velocity;
+	    msg_older.mode_req_attitude = msg_newer.mode_req_attitude;
+	    msg_older.mode_req_local_alt = msg_newer.mode_req_local_alt;
+	    msg_older.mode_req_local_position = msg_newer.ode_req_local_position;
+	    msg_older.ode_req_global_position = msg_newer.ode_req_global_position;
+	    msg_older.mode_req_global_position_relaxed = false;
+	    msg_older.mode_req_mission = msg_newer.mode_req_mission;
+	    msg_older.mode_req_home_position = msg_newer.mode_req_home_position;
+	    msg_older.mode_req_prevent_arming = msg_newer.mode_req_prevent_arming;
+	    msg_older.mode_req_manual_control = msg_newer.mode_req_manual_control;
+    }
+};
+
+REGISTER_SERVICE_TRANSLATION_DIRECT(ArmingCheckReplyV1Translation);

msg/versioned/ArmingCheckReply.msg

@@ -1,4 +1,4 @@
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 
 uint64 timestamp # time since system start (microseconds)