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AP_GPS: protect parameters from being accessed externally

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backends become friends so they can continue to access parameters held in frontend
get_rate_ms made private because only used by frontend
Also moved static arrays higher in cpp file
This commit is contained in:
Randy Mackay 2017-03-08 19:11:38 +09:00
parent 3172657f26
commit 72dfe1127f
2 changed files with 71 additions and 51 deletions
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12
libraries/AP_GPS/AP_GPS.cpp
View File

@ -44,6 +44,13 @@
extern const AP_HAL::HAL &hal;
// baudrates to try to detect GPSes with
const uint32_t AP_GPS::_baudrates[] = {4800U, 19200U, 38400U, 115200U, 57600U, 9600U, 230400U};
// initialisation blobs to send to the GPS to try to get it into the
// right mode
const char AP_GPS::_initialisation_blob[] = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY;
// table of user settable parameters
const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Param: TYPE
@ -270,8 +277,6 @@ void AP_GPS::init(DataFlash_Class *dataflash, const AP_SerialManager& serial_man
}
}
// baudrates to try to detect GPSes with
const uint32_t AP_GPS::_baudrates[] = {4800U, 19200U, 38400U, 115200U, 57600U, 9600U, 230400U};
// return number of active GPS sensors. Note that if the first GPS
// is not present but the 2nd is then we return 2. Note that a blended
// GPS solution is treated as an additional sensor.
@ -284,9 +289,6 @@ uint8_t AP_GPS::num_sensors(void) const
}
}
// initialisation blobs to send to the GPS to try to get it into the
// right mode
const char AP_GPS::_initialisation_blob[] = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY;
bool AP_GPS::speed_accuracy(uint8_t instance, float &sacc) const
{
if (state[instance].have_speed_accuracy) {

110
libraries/AP_GPS/AP_GPS.h
View File

@ -47,13 +47,21 @@ class AP_GPS
{
public:
/// Startup initialisation.
void init(DataFlash_Class *dataflash, const AP_SerialManager& serial_manager);
friend class AP_GPS_ERB;
friend class AP_GPS_GSOF;
friend class AP_GPS_MAV;
friend class AP_GPS_MTK;
friend class AP_GPS_MTK19;
friend class AP_GPS_NMEA;
friend class AP_GPS_NOVA;
friend class AP_GPS_PX4;
friend class AP_GPS_QURT;
friend class AP_GPS_SBF;
friend class AP_GPS_SBP;
friend class AP_GPS_SIRF;
friend class AP_GPS_UBLOX;
friend class AP_GPS_Backend;
/// Update GPS state based on possible bytes received from the module.
/// This routine must be called periodically (typically at 10Hz or
/// more) to process incoming data.
void update(void);
// constructor
AP_GPS();
@ -134,6 +142,14 @@ public:
uint32_t last_gps_time_ms; ///< the system time we got the last GPS timestamp, milliseconds
};
/// Startup initialisation.
void init(DataFlash_Class *dataflash, const AP_SerialManager& serial_manager);
/// Update GPS state based on possible bytes received from the module.
/// This routine must be called periodically (typically at 10Hz or
/// more) to process incoming data.
void update(void);
// Pass mavlink data to message handlers (for MAV type)
void handle_msg(const mavlink_message_t *msg);
@ -279,15 +295,6 @@ public:
return last_message_time_ms(primary_instance);
}
// convert GPS week and millis to unix epoch in ms
static uint64_t time_epoch_convert(uint16_t gps_week, uint32_t gps_ms);
// return last fix time since the 1/1/1970 in microseconds
uint64_t time_epoch_usec(uint8_t instance);
uint64_t time_epoch_usec(void) {
return time_epoch_usec(primary_instance);
}
// return true if the GPS supports vertical velocity values
bool have_vertical_velocity(uint8_t instance) const {
return state[instance].have_vertical_velocity;
@ -300,9 +307,6 @@ public:
float get_lag(uint8_t instance) const;
float get_lag(void) const { return get_lag(primary_instance); }
// return gps update rate in milliseconds
uint16_t get_rate_ms(uint8_t instance) const;
// return a 3D vector defining the offset of the GPS antenna in meters relative to the body frame origin
const Vector3f &get_antenna_offset(uint8_t instance) const;
@ -313,9 +317,47 @@ public:
// set accuracy for HIL
void setHIL_Accuracy(uint8_t instance, float vdop, float hacc, float vacc, float sacc, bool _have_vertical_velocity, uint32_t sample_ms);
// lock out a GPS port, allowing another application to use the port
void lock_port(uint8_t instance, bool locked);
//Inject a packet of raw binary to a GPS
void inject_data(uint8_t *data, uint8_t len);
void inject_data(uint8_t instance, uint8_t *data, uint8_t len);
//MAVLink Status Sending
void send_mavlink_gps_raw(mavlink_channel_t chan);
void send_mavlink_gps2_raw(mavlink_channel_t chan);
void send_mavlink_gps_rtk(mavlink_channel_t chan);
void send_mavlink_gps2_rtk(mavlink_channel_t chan);
// Returns the index of the first unconfigured GPS (returns GPS_ALL_CONFIGURED if all instances report as being configured)
uint8_t first_unconfigured_gps(void) const;
void broadcast_first_configuration_failure_reason(void) const;
// return true if all GPS instances have finished configuration
bool all_configured(void) const {
return first_unconfigured_gps() == GPS_ALL_CONFIGURED;
}
// handle sending of initialisation strings to the GPS - only used by backends
void send_blob_start(uint8_t instance, const char *_blob, uint16_t size);
void send_blob_update(uint8_t instance);
// return last fix time since the 1/1/1970 in microseconds
uint64_t time_epoch_usec(uint8_t instance);
uint64_t time_epoch_usec(void) {
return time_epoch_usec(primary_instance);
}
// convert GPS week and millis to unix epoch in ms
static uint64_t time_epoch_convert(uint16_t gps_week, uint32_t gps_ms);
static const struct AP_Param::GroupInfo var_info[];
protected:
// dataflash for logging, if available
DataFlash_Class *_DataFlash;
@ -339,34 +381,10 @@ public:
AP_Int8 _blend_mask;
AP_Float _blend_tc;
// handle sending of initialisation strings to the GPS
void send_blob_start(uint8_t instance, const char *_blob, uint16_t size);
void send_blob_update(uint8_t instance);
// lock out a GPS port, allowing another application to use the port
void lock_port(uint8_t instance, bool locked);
//Inject a packet of raw binary to a GPS
void inject_data(uint8_t *data, uint8_t len);
void inject_data(uint8_t instance, uint8_t *data, uint8_t len);
//MAVLink Status Sending
void send_mavlink_gps_raw(mavlink_channel_t chan);
void send_mavlink_gps2_raw(mavlink_channel_t chan);
void send_mavlink_gps_rtk(mavlink_channel_t chan);
void send_mavlink_gps2_rtk(mavlink_channel_t chan);
// Returns the index of the first unconfigured GPS (returns GPS_ALL_CONFIGURED if all instances report as being configured)
uint8_t first_unconfigured_gps(void) const;
void broadcast_first_configuration_failure_reason(void) const;
// return true if all GPS instances have finished configuration
bool all_configured(void) const {
return first_unconfigured_gps() == GPS_ALL_CONFIGURED;
}
private:
// return gps update rate in milliseconds
uint16_t get_rate_ms(uint8_t instance) const;
struct GPS_timing {
// the time we got our last fix in system milliseconds
uint32_t last_fix_time_ms;