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AP_Logger: pass mavlink_message_t by const reference

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This commit is contained in:
Pierre Kancir 2019-04-30 12:22:48 +02:00 committed by Peter Barker
parent 13ac187fd8
commit 781e9ae9c1
6 changed files with 29 additions and 29 deletions
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4
libraries/AP_Logger/AP_Logger.cpp
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@ -651,9 +651,9 @@ bool AP_Logger::logging_started(void) {
return false; return false;
} }
void AP_Logger::handle_mavlink_msg(GCS_MAVLINK &link, mavlink_message_t* msg) void AP_Logger::handle_mavlink_msg(GCS_MAVLINK &link, const mavlink_message_t &msg)
{ {
switch (msg->msgid) { switch (msg.msgid) {
case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS: case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
FOR_EACH_BACKEND(remote_log_block_status_msg(link.get_chan(), msg)); FOR_EACH_BACKEND(remote_log_block_status_msg(link.get_chan(), msg));
break; break;

12
libraries/AP_Logger/AP_Logger.h
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@ -303,7 +303,7 @@ public:
void flush(void); void flush(void);
#endif #endif
void handle_mavlink_msg(class GCS_MAVLINK &, mavlink_message_t* msg); void handle_mavlink_msg(class GCS_MAVLINK &, const mavlink_message_t &msg);
void periodic_tasks(); // may want to split this into GCS/non-GCS duties void periodic_tasks(); // may want to split this into GCS/non-GCS duties
@ -501,12 +501,12 @@ private:
uint32_t _last_arming_failure_ms; uint32_t _last_arming_failure_ms;
bool should_handle_log_message(); bool should_handle_log_message();
void handle_log_message(class GCS_MAVLINK &, mavlink_message_t *msg); void handle_log_message(class GCS_MAVLINK &, const mavlink_message_t &msg);
void handle_log_request_list(class GCS_MAVLINK &, mavlink_message_t *msg); void handle_log_request_list(class GCS_MAVLINK &, const mavlink_message_t &msg);
void handle_log_request_data(class GCS_MAVLINK &, mavlink_message_t *msg); void handle_log_request_data(class GCS_MAVLINK &, const mavlink_message_t &msg);
void handle_log_request_erase(class GCS_MAVLINK &, mavlink_message_t *msg); void handle_log_request_erase(class GCS_MAVLINK &, const mavlink_message_t &msg);
void handle_log_request_end(class GCS_MAVLINK &, mavlink_message_t *msg); void handle_log_request_end(class GCS_MAVLINK &, const mavlink_message_t &msg);
void handle_log_send_listing(); // handle LISTING state void handle_log_send_listing(); // handle LISTING state
void handle_log_sending(); // handle SENDING state void handle_log_sending(); // handle SENDING state
bool handle_log_send_data(); // send data chunk to client bool handle_log_send_data(); // send data chunk to client

4
libraries/AP_Logger/AP_Logger_Backend.h
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@ -68,8 +68,8 @@ public:
#endif #endif
// for Logger_MAVlink // for Logger_MAVlink
virtual void remote_log_block_status_msg(mavlink_channel_t chan, virtual void remote_log_block_status_msg(const mavlink_channel_t chan,
mavlink_message_t* msg) { } const mavlink_message_t &msg) { }
// end for Logger_MAVlink // end for Logger_MAVlink
virtual void periodic_tasks(); virtual void periodic_tasks();

14
libraries/AP_Logger/AP_Logger_MAVLink.cpp
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@ -222,8 +222,8 @@ void AP_Logger_MAVLink::stop_logging()
} }
} }
void AP_Logger_MAVLink::handle_ack(mavlink_channel_t chan, void AP_Logger_MAVLink::handle_ack(const mavlink_channel_t chan,
mavlink_message_t* msg, const mavlink_message_t &msg,
uint32_t seqno) uint32_t seqno)
{ {
if (!_initialised) { if (!_initialised) {
@ -245,8 +245,8 @@ void AP_Logger_MAVLink::handle_ack(mavlink_channel_t chan,
// } // }
stats_init(); stats_init();
_sending_to_client = true; _sending_to_client = true;
_target_system_id = msg->sysid; _target_system_id = msg.sysid;
_target_component_id = msg->compid; _target_component_id = msg.compid;
_chan = chan; _chan = chan;
_next_seq_num = 0; _next_seq_num = 0;
start_new_log_reset_variables(); start_new_log_reset_variables();
@ -268,11 +268,11 @@ void AP_Logger_MAVLink::handle_ack(mavlink_channel_t chan,
} }
} }
void AP_Logger_MAVLink::remote_log_block_status_msg(mavlink_channel_t chan, void AP_Logger_MAVLink::remote_log_block_status_msg(const mavlink_channel_t chan,
mavlink_message_t* msg) const mavlink_message_t& msg)
{ {
mavlink_remote_log_block_status_t packet; mavlink_remote_log_block_status_t packet;
mavlink_msg_remote_log_block_status_decode(msg, &packet); mavlink_msg_remote_log_block_status_decode(&msg, &packet);
if (!semaphore.take_nonblocking()) { if (!semaphore.take_nonblocking()) {
return; return;
} }

4
libraries/AP_Logger/AP_Logger_MAVLink.h
View File

@ -61,7 +61,7 @@ public:
void push_log_blocks() override; void push_log_blocks() override;
void remote_log_block_status_msg(mavlink_channel_t chan, mavlink_message_t* msg) override; void remote_log_block_status_msg(const mavlink_channel_t chan, const mavlink_message_t& msg) override;
protected: protected:
@ -76,7 +76,7 @@ private:
struct dm_block *next; struct dm_block *next;
}; };
bool send_log_block(struct dm_block &block); bool send_log_block(struct dm_block &block);
void handle_ack(mavlink_channel_t chan, mavlink_message_t* msg, uint32_t seqno); void handle_ack(const mavlink_channel_t chan, const mavlink_message_t &msg, uint32_t seqno);
void handle_retry(uint32_t block_num); void handle_retry(uint32_t block_num);
void do_resends(uint32_t now); void do_resends(uint32_t now);
void free_all_blocks(); void free_all_blocks();

20
libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp
View File

@ -40,12 +40,12 @@ bool AP_Logger::should_handle_log_message()
/** /**
handle all types of log download requests from the GCS handle all types of log download requests from the GCS
*/ */
void AP_Logger::handle_log_message(GCS_MAVLINK &link, mavlink_message_t *msg) void AP_Logger::handle_log_message(GCS_MAVLINK &link, const mavlink_message_t &msg)
{ {
if (!should_handle_log_message()) { if (!should_handle_log_message()) {
return; return;
} }
switch (msg->msgid) { switch (msg.msgid) {
case MAVLINK_MSG_ID_LOG_REQUEST_LIST: case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
handle_log_request_list(link, msg); handle_log_request_list(link, msg);
break; break;
@ -64,7 +64,7 @@ void AP_Logger::handle_log_message(GCS_MAVLINK &link, mavlink_message_t *msg)
/** /**
handle all types of log download requests from the GCS handle all types of log download requests from the GCS
*/ */
void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *msg) void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, const mavlink_message_t &msg)
{ {
WITH_SEMAPHORE(_log_send_sem); WITH_SEMAPHORE(_log_send_sem);
@ -74,7 +74,7 @@ void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *ms
} }
mavlink_log_request_list_t packet; mavlink_log_request_list_t packet;
mavlink_msg_log_request_list_decode(msg, &packet); mavlink_msg_log_request_list_decode(&msg, &packet);
_log_num_logs = get_num_logs(); _log_num_logs = get_num_logs();
if (_log_num_logs == 0) { if (_log_num_logs == 0) {
@ -102,7 +102,7 @@ void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *ms
/** /**
handle request for log data handle request for log data
*/ */
void AP_Logger::handle_log_request_data(GCS_MAVLINK &link, mavlink_message_t *msg) void AP_Logger::handle_log_request_data(GCS_MAVLINK &link, const mavlink_message_t &msg)
{ {
WITH_SEMAPHORE(_log_send_sem); WITH_SEMAPHORE(_log_send_sem);
@ -118,7 +118,7 @@ void AP_Logger::handle_log_request_data(GCS_MAVLINK &link, mavlink_message_t *ms
} }
mavlink_log_request_data_t packet; mavlink_log_request_data_t packet;
mavlink_msg_log_request_data_decode(msg, &packet); mavlink_msg_log_request_data_decode(&msg, &packet);
// consider opening or switching logs: // consider opening or switching logs:
if (transfer_activity != SENDING || _log_num_data != packet.id) { if (transfer_activity != SENDING || _log_num_data != packet.id) {
@ -158,10 +158,10 @@ void AP_Logger::handle_log_request_data(GCS_MAVLINK &link, mavlink_message_t *ms
/** /**
handle request to erase log data handle request to erase log data
*/ */
void AP_Logger::handle_log_request_erase(GCS_MAVLINK &link, mavlink_message_t *msg) void AP_Logger::handle_log_request_erase(GCS_MAVLINK &link, const mavlink_message_t &msg)
{ {
// mavlink_log_erase_t packet; // mavlink_log_erase_t packet;
// mavlink_msg_log_erase_decode(msg, &packet); // mavlink_msg_log_erase_decode(&msg, &packet);
EraseAll(); EraseAll();
} }
@ -169,11 +169,11 @@ void AP_Logger::handle_log_request_erase(GCS_MAVLINK &link, mavlink_message_t *m
/** /**
handle request to stop transfer and resume normal logging handle request to stop transfer and resume normal logging
*/ */
void AP_Logger::handle_log_request_end(GCS_MAVLINK &link, mavlink_message_t *msg) void AP_Logger::handle_log_request_end(GCS_MAVLINK &link, const mavlink_message_t &msg)
{ {
WITH_SEMAPHORE(_log_send_sem); WITH_SEMAPHORE(_log_send_sem);
mavlink_log_request_end_t packet; mavlink_log_request_end_t packet;
mavlink_msg_log_request_end_decode(msg, &packet); mavlink_msg_log_request_end_decode(&msg, &packet);
transfer_activity = IDLE; transfer_activity = IDLE;
_log_sending_link = nullptr; _log_sending_link = nullptr;