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AP_GPS: Reduce extra GSOF namespacing since it's all in class scope 

* Also remove in s on enums to follow Peter's conventions
* Fixed incorrect style on class and enum names
This commit is contained in:
Ryan Friedman 2023-05-11 12:24:33 -06:00 committed by Andrew Tridgell
parent 2f5f77712f
commit 5c815e2c32
2 changed files with 60 additions and 60 deletions
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108
libraries/AP_GPS/AP_GPS_GSOF.cpp
View File

@ -46,7 +46,7 @@ AP_GPS_GSOF::AP_GPS_GSOF(AP_GPS &_gps, AP_GPS::GPS_State &_state,
AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port)
{
gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::STARTTX;
msg.state = Msg_Parser::State::STARTTX;
// baud request for port 0
requestBaud(0);
@ -88,52 +88,52 @@ AP_GPS_GSOF::read(void)
bool
AP_GPS_GSOF::parse(const uint8_t temp)
{
switch (gsof_msg.gsof_state)
switch (msg.state)
{
default:
case gsof_msg_parser_t::gsof_states::STARTTX:
if (temp == GSOF_STX)
case Msg_Parser::State::STARTTX:
if (temp == STX)
{
gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::STATUS;
gsof_msg.read = 0;
gsof_msg.checksumcalc = 0;
msg.state = Msg_Parser::State::STATUS;
msg.read = 0;
msg.checksumcalc = 0;
}
break;
case gsof_msg_parser_t::gsof_states::STATUS:
gsof_msg.status = temp;
gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::PACKETTYPE;
gsof_msg.checksumcalc += temp;
case Msg_Parser::State::STATUS:
msg.status = temp;
msg.state = Msg_Parser::State::PACKETTYPE;
msg.checksumcalc += temp;
break;
case gsof_msg_parser_t::gsof_states::PACKETTYPE:
gsof_msg.packettype = temp;
gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::LENGTH;
gsof_msg.checksumcalc += temp;
case Msg_Parser::State::PACKETTYPE:
msg.packettype = temp;
msg.state = Msg_Parser::State::LENGTH;
msg.checksumcalc += temp;
break;
case gsof_msg_parser_t::gsof_states::LENGTH:
gsof_msg.length = temp;
gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::DATA;
gsof_msg.checksumcalc += temp;
case Msg_Parser::State::LENGTH:
msg.length = temp;
msg.state = Msg_Parser::State::DATA;
msg.checksumcalc += temp;
break;
case gsof_msg_parser_t::gsof_states::DATA:
gsof_msg.data[gsof_msg.read] = temp;
gsof_msg.read++;
gsof_msg.checksumcalc += temp;
if (gsof_msg.read >= gsof_msg.length)
case Msg_Parser::State::DATA:
msg.data[msg.read] = temp;
msg.read++;
msg.checksumcalc += temp;
if (msg.read >= msg.length)
{
gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::CHECKSUM;
msg.state = Msg_Parser::State::CHECKSUM;
}
break;
case gsof_msg_parser_t::gsof_states::CHECKSUM:
gsof_msg.checksum = temp;
gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::ENDTX;
if (gsof_msg.checksum == gsof_msg.checksumcalc)
case Msg_Parser::State::CHECKSUM:
msg.checksum = temp;
msg.state = Msg_Parser::State::ENDTX;
if (msg.checksum == msg.checksumcalc)
{
return process_message();
}
break;
case gsof_msg_parser_t::gsof_states::ENDTX:
gsof_msg.endtx = temp;
gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::STARTTX;
case Msg_Parser::State::ENDTX:
msg.endtx = temp;
msg.state = Msg_Parser::State::STARTTX;
break;
}
@ -250,11 +250,11 @@ AP_GPS_GSOF::process_message(void)
{
//http://www.trimble.com/OEM_ReceiverHelp/V4.81/en/default.html#welcome.html
if (gsof_msg.packettype == 0x40) { // GSOF
if (msg.packettype == 0x40) { // GSOF
#if gsof_DEBUGGING
const uint8_t trans_number = gsof_msg.data[0];
const uint8_t pageidx = gsof_msg.data[1];
const uint8_t maxpageidx = gsof_msg.data[2];
const uint8_t trans_number = msg.data[0];
const uint8_t pageidx = msg.data[1];
const uint8_t maxpageidx = msg.data[2];
Debug("GSOF page: %u of %u (trans_number=%u)",
pageidx, maxpageidx, trans_number);
@ -263,21 +263,21 @@ AP_GPS_GSOF::process_message(void)
int valid = 0;
// want 1 2 8 9 12
for (uint32_t a = 3; a < gsof_msg.length; a++)
for (uint32_t a = 3; a < msg.length; a++)
{
const uint8_t output_type = gsof_msg.data[a];
const uint8_t output_type = msg.data[a];
a++;
const uint8_t output_length = gsof_msg.data[a];
const uint8_t output_length = msg.data[a];
a++;
//Debug("GSOF type: " + output_type + " len: " + output_length);
if (output_type == 1) // pos time
{
state.time_week_ms = SwapUint32(gsof_msg.data, a);
state.time_week = SwapUint16(gsof_msg.data, a + 4);
state.num_sats = gsof_msg.data[a + 6];
const uint8_t posf1 = gsof_msg.data[a + 7];
const uint8_t posf2 = gsof_msg.data[a + 8];
state.time_week_ms = SwapUint32(msg.data, a);
state.time_week = SwapUint16(msg.data, a + 4);
state.num_sats = msg.data[a + 6];
const uint8_t posf1 = msg.data[a + 7];
const uint8_t posf2 = msg.data[a + 8];
//Debug("POSTIME: " + posf1 + " " + posf2);
@ -300,9 +300,9 @@ AP_GPS_GSOF::process_message(void)
}
else if (output_type == 2) // position
{
state.location.lat = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(gsof_msg.data, a)) * (double)1e7);
state.location.lng = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(gsof_msg.data, a + 8)) * (double)1e7);
state.location.alt = (int32_t)(SwapDouble(gsof_msg.data, a + 16) * 100);
state.location.lat = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(msg.data, a)) * (double)1e7);
state.location.lng = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(msg.data, a + 8)) * (double)1e7);
state.location.alt = (int32_t)(SwapDouble(msg.data, a + 16) * 100);
state.last_gps_time_ms = AP_HAL::millis();
@ -310,26 +310,26 @@ AP_GPS_GSOF::process_message(void)
}
else if (output_type == 8) // velocity
{
const uint8_t vflag = gsof_msg.data[a];
const uint8_t vflag = msg.data[a];
if ((vflag & 1) == 1)
{
state.ground_speed = SwapFloat(gsof_msg.data, a + 1);
state.ground_course = degrees(SwapFloat(gsof_msg.data, a + 5));
state.ground_speed = SwapFloat(msg.data, a + 1);
state.ground_course = degrees(SwapFloat(msg.data, a + 5));
fill_3d_velocity();
state.velocity.z = -SwapFloat(gsof_msg.data, a + 9);
state.velocity.z = -SwapFloat(msg.data, a + 9);
state.have_vertical_velocity = true;
}
valid++;
}
else if (output_type == 9) //dop
{
state.hdop = (uint16_t)(SwapFloat(gsof_msg.data, a + 4) * 100);
state.hdop = (uint16_t)(SwapFloat(msg.data, a + 4) * 100);
valid++;
}
else if (output_type == 12) // position sigma
{
state.horizontal_accuracy = (SwapFloat(gsof_msg.data, a + 4) + SwapFloat(gsof_msg.data, a + 8)) / 2;
state.vertical_accuracy = SwapFloat(gsof_msg.data, a + 16);
state.horizontal_accuracy = (SwapFloat(msg.data, a + 4) + SwapFloat(msg.data, a + 8)) / 2;
state.vertical_accuracy = SwapFloat(msg.data, a + 16);
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
valid++;

12
libraries/AP_GPS/AP_GPS_GSOF.h
View File

@ -48,10 +48,10 @@ private:
uint32_t SwapUint32(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
uint16_t SwapUint16(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
struct gsof_msg_parser_t
struct Msg_Parser
{
enum class gsof_states
enum class State
{
STARTTX = 0,
STATUS,
@ -62,7 +62,7 @@ private:
ENDTX
};
gsof_states gsof_state;
State state;
uint8_t status;
uint8_t packettype;
@ -73,10 +73,10 @@ private:
uint16_t read;
uint8_t checksumcalc;
} gsof_msg;
} msg;
static const uint8_t GSOF_STX = 0x02;
static const uint8_t GSOF_ETX = 0x03;
static const uint8_t STX = 0x02;
static const uint8_t ETX = 0x03;
uint8_t packetcount = 0;