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AP_GPS: pass mavlink_message_t by const reference

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This commit is contained in:
Pierre Kancir 2019-04-30 12:22:48 +02:00 committed by Peter Barker
parent 09f0f34fe5
commit 13ac187fd8
5 changed files with 15 additions and 15 deletions
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12
libraries/AP_GPS/AP_GPS.cpp
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@ -781,10 +781,10 @@ void AP_GPS::update(void)
} }
void AP_GPS::handle_gps_inject(const mavlink_message_t *msg) void AP_GPS::handle_gps_inject(const mavlink_message_t &msg)
{ {
mavlink_gps_inject_data_t packet; mavlink_gps_inject_data_t packet;
mavlink_msg_gps_inject_data_decode(msg, &packet); mavlink_msg_gps_inject_data_decode(&msg, &packet);
//TODO: check target //TODO: check target
inject_data(packet.data, packet.len); inject_data(packet.data, packet.len);
@ -793,9 +793,9 @@ void AP_GPS::handle_gps_inject(const mavlink_message_t *msg)
/* /*
pass along a mavlink message (for MAV type) pass along a mavlink message (for MAV type)
*/ */
void AP_GPS::handle_msg(const mavlink_message_t *msg) void AP_GPS::handle_msg(const mavlink_message_t &msg)
{ {
switch (msg->msgid) { switch (msg.msgid) {
case MAVLINK_MSG_ID_GPS_RTCM_DATA: case MAVLINK_MSG_ID_GPS_RTCM_DATA:
// pass data to de-fragmenter // pass data to de-fragmenter
handle_gps_rtcm_data(msg); handle_gps_rtcm_data(msg);
@ -1029,10 +1029,10 @@ bool AP_GPS::blend_health_check() const
/* /*
re-assemble GPS_RTCM_DATA message re-assemble GPS_RTCM_DATA message
*/ */
void AP_GPS::handle_gps_rtcm_data(const mavlink_message_t *msg) void AP_GPS::handle_gps_rtcm_data(const mavlink_message_t &msg)
{ {
mavlink_gps_rtcm_data_t packet; mavlink_gps_rtcm_data_t packet;
mavlink_msg_gps_rtcm_data_decode(msg, &packet); mavlink_msg_gps_rtcm_data_decode(&msg, &packet);
if (packet.len > MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN) { if (packet.len > MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN) {
// invalid packet // invalid packet

6
libraries/AP_GPS/AP_GPS.h
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@ -169,7 +169,7 @@ public:
void update(void); void update(void);
// Pass mavlink data to message handlers (for MAV type) // Pass mavlink data to message handlers (for MAV type)
void handle_msg(const mavlink_message_t *msg); void handle_msg(const mavlink_message_t &msg);
// Accessor functions // Accessor functions
@ -538,8 +538,8 @@ private:
} *rtcm_buffer; } *rtcm_buffer;
// re-assemble GPS_RTCM_DATA message // re-assemble GPS_RTCM_DATA message
void handle_gps_rtcm_data(const mavlink_message_t *msg); void handle_gps_rtcm_data(const mavlink_message_t &msg);
void handle_gps_inject(const mavlink_message_t *msg); void handle_gps_inject(const mavlink_message_t &msg);
//Inject a packet of raw binary to a GPS //Inject a packet of raw binary to a GPS
void inject_data(uint8_t *data, uint16_t len); void inject_data(uint8_t *data, uint16_t len);

8
libraries/AP_GPS/AP_GPS_MAV.cpp
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@ -39,13 +39,13 @@ bool AP_GPS_MAV::read(void)
// handles an incoming mavlink message (HIL_GPS) and sets // handles an incoming mavlink message (HIL_GPS) and sets
// corresponding gps data appropriately; // corresponding gps data appropriately;
void AP_GPS_MAV::handle_msg(const mavlink_message_t *msg) void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
{ {
switch (msg->msgid) { switch (msg.msgid) {
case MAVLINK_MSG_ID_GPS_INPUT: { case MAVLINK_MSG_ID_GPS_INPUT: {
mavlink_gps_input_t packet; mavlink_gps_input_t packet;
mavlink_msg_gps_input_decode(msg, &packet); mavlink_msg_gps_input_decode(&msg, &packet);
bool have_alt = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_ALT) == 0); bool have_alt = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_ALT) == 0);
bool have_hdop = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_HDOP) == 0); bool have_hdop = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_HDOP) == 0);
@ -111,7 +111,7 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t *msg)
case MAVLINK_MSG_ID_HIL_GPS: { case MAVLINK_MSG_ID_HIL_GPS: {
mavlink_hil_gps_t packet; mavlink_hil_gps_t packet;
mavlink_msg_hil_gps_decode(msg, &packet); mavlink_msg_hil_gps_decode(&msg, &packet);
state.time_week = 0; state.time_week = 0;
state.time_week_ms = packet.time_usec/1000; state.time_week_ms = packet.time_usec/1000;

2
libraries/AP_GPS/AP_GPS_MAV.h
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@ -33,7 +33,7 @@ public:
static bool _detect(struct MAV_detect_state &state, uint8_t data); static bool _detect(struct MAV_detect_state &state, uint8_t data);
void handle_msg(const mavlink_message_t *msg) override; void handle_msg(const mavlink_message_t &msg) override;
const char *name() const override { return "MAV"; } const char *name() const override { return "MAV"; }

2
libraries/AP_GPS/GPS_Backend.h
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@ -50,7 +50,7 @@ public:
virtual void broadcast_configuration_failure_reason(void) const { return ; } virtual void broadcast_configuration_failure_reason(void) const { return ; }
virtual void handle_msg(const mavlink_message_t *msg) { return ; } virtual void handle_msg(const mavlink_message_t &msg) { return ; }
// driver specific lag, returns true if the driver is confident in the provided lag // driver specific lag, returns true if the driver is confident in the provided lag
virtual bool get_lag(float &lag) const { lag = 0.2f; return true; } virtual bool get_lag(float &lag) const { lag = 0.2f; return true; }