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GCS_MAVLink: code-generate chan-fetching methods 

A recent PR had to change every single one of these methods, which was kind of unfortunate.

So generate the methods using a #define so the duplication happens at preprocessor-time.
This commit is contained in:
Peter Barker 2022-12-14 12:14:18 +11:00 committed by Peter Barker
parent d9dedf3fe8
commit 4e61de7083
2 changed files with 28 additions and 14 deletions
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22
libraries/GCS_MAVLink/GCS.h
View File

@ -86,6 +86,28 @@ void gcs_out_of_space_to_send(mavlink_channel_t chan);
} }
#define MAV_STREAM_TERMINATOR { (streams)0, nullptr, 0 } #define MAV_STREAM_TERMINATOR { (streams)0, nullptr, 0 }
// code generation; avoid each subclass duplicating these two methods
// and just changing the name. These methods allow retrieval of
// objects specific to the vehicle's subclass, which the vehicle can
// then call its own specific methods on
#define GCS_MAVLINK_CHAN_METHOD_DEFINITIONS(subclass_name) \
subclass_name *chan(const uint8_t ofs) override { \
if (ofs > _num_gcs) { \
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset); \
return nullptr; \
} \
return (subclass_name *)_chan[ofs]; \
} \
\
const subclass_name *chan(const uint8_t ofs) const override { \
if (ofs > _num_gcs) { \
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset); \
return nullptr; \
} \
return (subclass_name *)_chan[ofs]; \
}
#define GCS_MAVLINK_NUM_STREAM_RATES 10 #define GCS_MAVLINK_NUM_STREAM_RATES 10
class GCS_MAVLINK_Parameters class GCS_MAVLINK_Parameters
{ {

20
libraries/GCS_MAVLink/GCS_Dummy.h
View File

@ -61,20 +61,12 @@ protected:
} }
private: private:
GCS_MAVLINK_Dummy *chan(const uint8_t ofs) override { // the following define expands to a pair of methods to retrieve a
if (ofs > _num_gcs) { // pointer to an object of the correct subclass for the link at
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset); // offset ofs. These are of the form:
return nullptr; // GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override;
} // const GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override const;
return (GCS_MAVLINK_Dummy *)_chan[ofs]; GCS_MAVLINK_CHAN_METHOD_DEFINITIONS(GCS_MAVLINK_Dummy);
};
const GCS_MAVLINK_Dummy *chan(const uint8_t ofs) const override {
if (ofs > _num_gcs) {
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
return nullptr;
}
return (GCS_MAVLINK_Dummy *)_chan[ofs];
};
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t dest_bitmask) override; void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t dest_bitmask) override;