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GCS_MAVLink: move handling of fence point manipulation up

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This commit is contained in:
Peter Barker 2019-02-04 11:16:10 +11:00 committed by Randy Mackay
parent 5002fa2081
commit 0ef7c6af59
3 changed files with 26 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -338,6 +338,7 @@ protected:
void handle_rally_fetch_point(mavlink_message_t *msg); void handle_rally_fetch_point(mavlink_message_t *msg);
void handle_rally_point(mavlink_message_t *msg); void handle_rally_point(mavlink_message_t *msg);
virtual void handle_mount_message(const mavlink_message_t *msg); virtual void handle_mount_message(const mavlink_message_t *msg);
void handle_fence_message(mavlink_message_t *msg);
void handle_param_value(mavlink_message_t *msg); void handle_param_value(mavlink_message_t *msg);
void handle_radio_status(mavlink_message_t *msg, AP_Logger &dataflash, bool log_radio); void handle_radio_status(mavlink_message_t *msg, AP_Logger &dataflash, bool log_radio);
void handle_serial_control(const mavlink_message_t *msg); void handle_serial_control(const mavlink_message_t *msg);

5
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3023,6 +3023,11 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
handle_command_int(msg); handle_command_int(msg);
break; break;
case MAVLINK_MSG_ID_FENCE_POINT:
case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
handle_fence_message(msg);
break;
case MAVLINK_MSG_ID_GIMBAL_REPORT: case MAVLINK_MSG_ID_GIMBAL_REPORT:
handle_mount_message(msg); handle_mount_message(msg);
break; break;

20
libraries/GCS_MAVLink/GCS_Fence.cpp
View File

@ -21,6 +21,26 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_lon
} }
} }
void GCS_MAVLINK::handle_fence_message(mavlink_message_t *msg)
{
AC_Fence *fence = AP::fence();
if (fence == nullptr) {
return;
}
// send or receive fence points with GCS
switch (msg->msgid) {
case MAVLINK_MSG_ID_FENCE_POINT:
case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
fence->handle_msg(*this, msg);
break;
default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled common fence message");
#endif
break;
}
}
// fence_send_mavlink_status - send fence status to ground station // fence_send_mavlink_status - send fence status to ground station
void GCS_MAVLINK::send_fence_status() const void GCS_MAVLINK::send_fence_status() const
{ {