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AP_DAL: make more APIs const

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This commit is contained in:
Andrew Tridgell 2020-11-07 17:26:53 +11:00
parent 9b81c5a1e0
commit 4ef7d5b468
2 changed files with 9 additions and 9 deletions
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4
libraries/AP_DAL/AP_DAL.cpp
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@ -184,7 +184,7 @@ void AP_DAL::log_writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t
#endif
}
int AP_DAL::snprintf(char* str, size_t size, const char *format, ...)
int AP_DAL::snprintf(char* str, size_t size, const char *format, ...) const
{
va_list ap;
va_start(ap, format);
@ -193,7 +193,7 @@ int AP_DAL::snprintf(char* str, size_t size, const char *format, ...)
return res;
}
void *AP_DAL::malloc_type(size_t size, Memory_Type mem_type)
void *AP_DAL::malloc_type(size_t size, Memory_Type mem_type) const
{
return hal.util->malloc_type(size, AP_HAL::Util::Memory_Type(mem_type));
}

14
libraries/AP_DAL/AP_DAL.h
View File

@ -86,9 +86,9 @@ public:
void start_frame(FrameType frametype);
void end_frame(void);
uint64_t micros64() { return _RFRH.time_us; }
uint32_t micros() { return _micros; }
uint32_t millis() { return _millis; }
uint64_t micros64() const { return _RFRH.time_us; }
uint32_t micros() const { return _micros; }
uint32_t millis() const { return _millis; }
void log_event2(Event2 event);
void log_SetOriginLLH2(const Location &loc);
@ -113,27 +113,27 @@ public:
bool ekf_low_time_remaining(EKFType etype, uint8_t core);
// returns armed state for the current frame
bool get_armed() { return _RFRN.state_bitmask & uint8_t(StateMask::ARMED); }
bool get_armed() const { return _RFRN.state_bitmask & uint8_t(StateMask::ARMED); }
// memory available at start of current frame. While this could
// potentially change as we go through the frame, the
// ramifications of being out of memory are that you don't start
// the EKF, so the simplicity of having one value for the entire
// frame is worthwhile.
uint32_t available_memory() { return _RFRN.available_memory; }
uint32_t available_memory() const { return _RFRN.available_memory; }
int8_t get_ekf_type(void) const {
return _RFRN.ekf_type;
}
int snprintf(char* str, size_t size, const char *format, ...);
int snprintf(char* str, size_t size, const char *format, ...) const;
// copied in AP_HAL/Util.h
enum Memory_Type {
MEM_DMA_SAFE,
MEM_FAST
};
void *malloc_type(size_t size, enum Memory_Type mem_type);
void *malloc_type(size_t size, enum Memory_Type mem_type) const;
AP_DAL_InertialSensor &ins() { return _ins; }
AP_DAL_Baro &baro() { return _baro; }