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Sub: avoid allocate a GCS_MAVLINK per mavlink channel

This commit is contained in:
Peter Barker 2019-06-19 20:32:27 +10:00 committed by Peter Barker
parent 48a1b2f436
commit 45af50f8bd
5 changed files with 30 additions and 33 deletions
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21
ArduSub/GCS_Mavlink.cpp
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@ -240,7 +240,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
} }
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = { const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
// @Param: RAW_SENS // @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate // @DisplayName: Raw sensor stream rate
// @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station // @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station
@ -248,7 +248,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[STREAM_RAW_SENSORS], 0), AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_RAW_SENSORS], 0),
// @Param: EXT_STAT // @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station // @DisplayName: Extended status stream rate to ground station
@ -257,7 +257,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[STREAM_EXTENDED_STATUS], 0), AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTENDED_STATUS], 0),
// @Param: RC_CHAN // @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station // @DisplayName: RC Channel stream rate to ground station
@ -266,7 +266,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[STREAM_RC_CHANNELS], 0), AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_RC_CHANNELS], 0),
// @Param: POSITION // @Param: POSITION
// @DisplayName: Position stream rate to ground station // @DisplayName: Position stream rate to ground station
@ -275,7 +275,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[STREAM_POSITION], 0), AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_POSITION], 0),
// @Param: EXTRA1 // @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station // @DisplayName: Extra data type 1 stream rate to ground station
@ -284,7 +284,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[STREAM_EXTRA1], 0), AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA1], 0),
// @Param: EXTRA2 // @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station // @DisplayName: Extra data type 2 stream rate to ground station
@ -293,7 +293,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[STREAM_EXTRA2], 0), AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA2], 0),
// @Param: EXTRA3 // @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station // @DisplayName: Extra data type 3 stream rate to ground station
@ -302,7 +302,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[STREAM_EXTRA3], 0), AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_EXTRA3], 0),
// @Param: PARAMS // @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station // @DisplayName: Parameter stream rate to ground station
@ -311,7 +311,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[STREAM_PARAMS], 0), AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK_Parameters, streamRates[GCS_MAVLINK::STREAM_PARAMS], 0),
AP_GROUPEND AP_GROUPEND
}; };
@ -794,9 +794,6 @@ void GCS_MAVLINK_Sub::handle_rc_channels_override(const mavlink_message_t &msg)
void Sub::mavlink_delay_cb() void Sub::mavlink_delay_cb()
{ {
static uint32_t last_1hz, last_50hz, last_5s; static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs().chan(0).initialised) {
return;
}
logger.EnableWrites(false); logger.EnableWrites(false);

2
ArduSub/GCS_Mavlink.h
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@ -6,6 +6,8 @@ class GCS_MAVLINK_Sub : public GCS_MAVLINK {
public: public:
using GCS_MAVLINK::GCS_MAVLINK;
protected: protected:
uint32_t telem_delay() const override { uint32_t telem_delay() const override {

30
ArduSub/GCS_Sub.h
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@ -9,24 +9,21 @@ class GCS_Sub : public GCS
public: public:
// return the number of valid GCS objects
uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
// return GCS link at offset ofs // return GCS link at offset ofs
GCS_MAVLINK_Sub &chan(uint8_t ofs) override { GCS_MAVLINK_Sub *chan(const uint8_t ofs) override {
if (ofs >= num_gcs()) { if (ofs > _num_gcs) {
AP::internalerror().error(AP_InternalError::error_t::gcs_offset); AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
ofs = 0; return nullptr;
} }
return _chan[ofs]; return (GCS_MAVLINK_Sub*)_chan[ofs];
}; }
const GCS_MAVLINK_Sub &chan(uint8_t ofs) const override { const GCS_MAVLINK_Sub *chan(const uint8_t ofs) const override {
if (ofs >= num_gcs()) { if (ofs > _num_gcs) {
AP::internalerror().error(AP_InternalError::error_t::gcs_offset); AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
ofs = 0; return nullptr;
} }
return _chan[ofs]; return (GCS_MAVLINK_Sub*)_chan[ofs];
}; }
void update_vehicle_sensor_status_flags() override; void update_vehicle_sensor_status_flags() override;
@ -45,8 +42,9 @@ protected:
return 250; return 250;
} }
private: GCS_MAVLINK_Sub *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
AP_HAL::UARTDriver &uart) override {
GCS_MAVLINK_Sub _chan[MAVLINK_COMM_NUM_BUFFERS]; return new GCS_MAVLINK_Sub(params, uart);
}
}; };

8
ArduSub/Parameters.cpp
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@ -450,19 +450,19 @@ const AP_Param::Info Sub::var_info[] = {
// @Group: SR0_ // @Group: SR0_
// @Path: GCS_Mavlink.cpp // @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[0], gcs0, "SR0_", GCS_MAVLINK), GOBJECTN(_gcs.chan_parameters[0], gcs0, "SR0_", GCS_MAVLINK_Parameters),
// @Group: SR1_ // @Group: SR1_
// @Path: GCS_Mavlink.cpp // @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[1], gcs1, "SR1_", GCS_MAVLINK), GOBJECTN(_gcs.chan_parameters[1], gcs1, "SR1_", GCS_MAVLINK_Parameters),
// @Group: SR2_ // @Group: SR2_
// @Path: GCS_Mavlink.cpp // @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[2], gcs2, "SR2_", GCS_MAVLINK), GOBJECTN(_gcs.chan_parameters[2], gcs2, "SR2_", GCS_MAVLINK_Parameters),
// @Group: SR3_ // @Group: SR3_
// @Path: GCS_Mavlink.cpp // @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[3], gcs3, "SR3_", GCS_MAVLINK), GOBJECTN(_gcs.chan_parameters[3], gcs3, "SR3_", GCS_MAVLINK_Parameters),
// @Group: AHRS_ // @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp

2
ArduSub/system.cpp
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@ -56,7 +56,7 @@ void Sub::init_ardupilot()
serial_manager.init(); serial_manager.init();
// setup first port early to allow BoardConfig to report errors // setup first port early to allow BoardConfig to report errors
gcs().chan(0).setup_uart(0); gcs().setup_console();
// init cargo gripper // init cargo gripper
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED