Added protobuf message definition of GL overlay.

include/mavlink_protobuf_manager.hpp

@@ -24,21 +24,9 @@ public:
 	 , kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
 	 , kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
 	{
-		// register PointCloudXYZI
+		// register GLOverlay
 		{
-			std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
-			registerType(msg);
-		}
-
-		// register PointCloudXYZRGB
-		{
-			std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
-			registerType(msg);
-		}
-
-		// register RGBDImage
-		{
-			std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
+			std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
 			registerType(msg);
 		}
 
@@ -60,6 +48,24 @@ public:
                         registerType(msg);
 		}
 
+		// register PointCloudXYZI
+		{
+			std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
+			registerType(msg);
+		}
+
+		// register PointCloudXYZRGB
+		{
+			std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
+			registerType(msg);
+		}
+
+		// register RGBDImage
+		{
+			std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
+			registerType(msg);
+		}
+
 		srand(time(NULL));
 		mStreamID = rand() + 1;
 	}

message_definitions/pixhawk.proto

@@ -1,59 +1,64 @@
 package px;
 
-message HeaderInfo {
+message HeaderInfo
+{
     required int32 source_sysid = 1;
     required int32 source_compid = 2;
     required double timestamp = 3; // in seconds
 }
 
-message PointCloudXYZI {
-    message PointXYZI {
-        required float x = 1;
-        required float y = 2;
-        required float z = 3;
-        required float intensity = 4;
-    }
-
-    required HeaderInfo header = 1;
-    repeated PointXYZI points = 2;
-}
-
-message PointCloudXYZRGB {
-    message PointXYZRGB {
-        required float x = 1;
-        required float y = 2;
-        required float z = 3;
-        required float rgb = 4;
-    }
-
-    required HeaderInfo header = 1;
-    repeated PointXYZRGB points = 2;
-}
-
-message RGBDImage
+message GLOverlay
 {
     required HeaderInfo header = 1;
 
-    required uint32 cols = 2;		///< Number of columns in image(s)
-    required uint32 rows = 3;		///< Number of rows in image(s)
-    required uint32 step1 = 4;		///< Step (stride) of image 1
-    required uint32 type1 = 5;		///< Type of image 1
-    required bytes imageData1 = 6;
-    required uint32 step2 = 7;		///< Step (stride) of image 2
-    required uint32 type2 = 8;		///< Type of image 2
-    required bytes imageData2 = 9;
-    optional uint32 camera_config = 10;	///< PxSHM::Camera enumeration
-    optional uint32 camera_type = 11;	///< PxSHM::CameraType enumeration
-    optional float roll = 12;
-    optional float pitch = 13;
-    optional float yaw = 14;
-    optional float lon = 15;
-    optional float lat = 16;
-    optional float alt = 17;
-    optional float ground_x = 18;
-    optional float ground_y = 19;
-    optional float ground_z = 20;
-    repeated float camera_matrix = 21;
+    optional string name = 2;
+    
+    enum CoordinateFrameType
+    {
+        GLOBAL = 0;
+        LOCAL = 1;
+    }
+    optional CoordinateFrameType coordinateFrameType = 3;
+
+    optional double origin_x = 4;
+    optional double origin_y = 5;
+    optional double origin_z = 6;
+    
+    optional bytes data = 7;
+
+    enum Mode
+    {
+        POINTS = 0;
+        LINES = 1;
+        LINE_STRIP = 2;
+        LINE_LOOP = 3;
+        TRIANGLES = 4;
+        TRIANGLE_STRIP = 5;
+        TRIANGLE_FAN = 6;
+        QUADS = 7;
+        QUAD_STRIP = 8;
+        POLYGON = 9;
+        SOLID_CIRCLE = 10;
+        WIRE_CIRCLE = 11;
+        SOLID_CUBE = 12;
+        WIRE_CUBE = 13;
+    }
+
+    enum Identifier
+    {
+        END = 14;
+        VERTEX2F = 15;
+        VERTEX3F = 16;
+        ROTATEF = 17;
+        TRANSLATEF = 18;
+        SCALEF = 19;
+        PUSH_MATRIX = 20;
+        POP_MATRIX = 21;
+        COLOR3F = 22;
+        COLOR4F = 23;
+        POINTSIZE = 24;
+        LINEWIDTH = 25;
+    }
 }
 
 message Obstacle
@@ -90,6 +95,63 @@ message ObstacleMap
     optional bytes data = 10;
 }
 
+message Path
+{
+    required HeaderInfo header = 1;
+
+    repeated Waypoint waypoints = 2;
+}
+
+message PointCloudXYZI {
+    message PointXYZI {
+        required float x = 1;
+        required float y = 2;
+        required float z = 3;
+        required float intensity = 4;
+    }
+
+    required HeaderInfo header = 1;
+    repeated PointXYZI points = 2;
+}
+
+message PointCloudXYZRGB {
+    message PointXYZRGB {
+        required float x = 1;
+        required float y = 2;
+        required float z = 3;
+        required float rgb = 4;
+    }
+
+    required HeaderInfo header = 1;
+    repeated PointXYZRGB points = 2;
+}
+
+message RGBDImage
+{
+    required HeaderInfo header = 1;
+
+    required uint32 cols = 2;        ///< Number of columns in image(s)
+    required uint32 rows = 3;        ///< Number of rows in image(s)
+    required uint32 step1 = 4;        ///< Step (stride) of image 1
+    required uint32 type1 = 5;        ///< Type of image 1
+    required bytes imageData1 = 6;
+    required uint32 step2 = 7;        ///< Step (stride) of image 2
+    required uint32 type2 = 8;        ///< Type of image 2
+    required bytes imageData2 = 9;
+    optional uint32 camera_config = 10;    ///< PxSHM::Camera enumeration
+    optional uint32 camera_type = 11;    ///< PxSHM::CameraType enumeration
+    optional float roll = 12;
+    optional float pitch = 13;
+    optional float yaw = 14;
+    optional float lon = 15;
+    optional float lat = 16;
+    optional float alt = 17;
+    optional float ground_x = 18;
+    optional float ground_y = 19;
+    optional float ground_z = 20;
+    repeated float camera_matrix = 21;
+}
+
 message Waypoint
 {
     required double x = 1;
@@ -99,10 +161,3 @@ message Waypoint
     optional double pitch = 5;
     optional double yaw = 6;
 }
-
-message Path
-{
-    required HeaderInfo header = 1;
-
-    repeated Waypoint waypoints = 2;
-}