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AP_GPS: Rename GSOF packing functions

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* Added docs for why they exist

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-08-08 20:58:51 -06:00 committed by Peter Barker
parent 1bf7c9ee77
commit 6273fee892
2 changed files with 12 additions and 12 deletions
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18
libraries/SITL/SIM_GPS.cpp
View File

@ -1086,9 +1086,9 @@ void GPS_GSOF::update_write(const GPS_Data *d)
} pos {
GSOF_POS_TYPE,
GSOF_POS_LEN,
pack_double_into_gsof_packet(d->latitude * DEG_TO_RAD_DOUBLE),
pack_double_into_gsof_packet(d->longitude * DEG_TO_RAD_DOUBLE),
pack_double_into_gsof_packet(static_cast<double>(d->altitude))
gsof_pack_double(d->latitude * DEG_TO_RAD_DOUBLE),
gsof_pack_double(d->longitude * DEG_TO_RAD_DOUBLE),
gsof_pack_double(static_cast<double>(d->altitude))
};
static_assert(sizeof(gsof_pos) - (sizeof(gsof_pos::OUTPUT_RECORD_TYPE) + sizeof(gsof_pos::RECORD_LEN)) == GSOF_POS_LEN);
@ -1127,11 +1127,11 @@ void GPS_GSOF::update_write(const GPS_Data *d)
GSOF_VEL_TYPE,
GSOF_VEL_LEN,
vel_flags,
pack_float_into_gsof_packet(d->speed_2d()),
pack_float_into_gsof_packet(d->heading()),
gsof_pack_float(d->speed_2d()),
gsof_pack_float(d->heading()),
// Trimble API has ambiguous direction here.
// Intentionally narrow from double.
pack_float_into_gsof_packet(static_cast<float>(d->speedD))
gsof_pack_float(static_cast<float>(d->speedD))
};
static_assert(sizeof(gsof_vel) - (sizeof(gsof_vel::OUTPUT_RECORD_TYPE) + sizeof(gsof_vel::RECORD_LEN)) == GSOF_VEL_LEN);
@ -1219,7 +1219,6 @@ void GPS_GSOF::send_gsof(const uint8_t *buf, const uint16_t size)
TRANSMISSION_NUMBER,
PAGE_INDEX,
MAX_PAGE_INDEX,
};
++TRANSMISSION_NUMBER;
@ -1245,7 +1244,6 @@ void GPS_GSOF::send_gsof(const uint8_t *buf, const uint16_t size)
};
// Sum bytes (status + type + length + data bytes) and modulo 256 the summation
// Because it's a uint8, use natural overflow
uint8_t csum = STATUS + PACKET_TYPE + length;
@ -1273,7 +1271,7 @@ void GPS_GSOF::send_gsof(const uint8_t *buf, const uint16_t size)
}
}
uint64_t GPS_GSOF::pack_double_into_gsof_packet(const double& src)
uint64_t GPS_GSOF::gsof_pack_double(const double& src)
{
uint64_t dst;
static_assert(sizeof(src) == sizeof(dst));
@ -1282,7 +1280,7 @@ uint64_t GPS_GSOF::pack_double_into_gsof_packet(const double& src)
return dst;
}
uint32_t GPS_GSOF::pack_float_into_gsof_packet(const float& src)
uint32_t GPS_GSOF::gsof_pack_float(const float& src)
{
uint32_t dst;
static_assert(sizeof(src) == sizeof(dst));

6
libraries/SITL/SIM_GPS.h
View File

@ -113,8 +113,10 @@ public:
private:
void send_gsof(const uint8_t *buf, const uint16_t size);
uint64_t pack_double_into_gsof_packet(const double& src) WARN_IF_UNUSED;
uint32_t pack_float_into_gsof_packet(const float& src) WARN_IF_UNUSED;
// These packing utilities for GSOF perform a type-safe floating point byteswap.
// They return integer types because returning floating points would involve an extra copy.
uint64_t gsof_pack_double(const double& src) WARN_IF_UNUSED;
uint32_t gsof_pack_float(const float& src) WARN_IF_UNUSED;
};
class GPS_NMEA : public GPS_Backend {