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GCS_MAVLink: move handling of last-seen-SYSID_MYGCS up to GCS base class

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This commit is contained in:
Peter Barker 2021-02-05 13:28:08 +11:00 committed by Andrew Tridgell
parent 5d686b9cb1
commit 9471d8069c
2 changed files with 34 additions and 1 deletions
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17
libraries/GCS_MAVLink/GCS.h
View File

@ -370,6 +370,8 @@ protected:
// saveable rate of each stream
AP_Int16 *streamRates;
void handle_heartbeat(const mavlink_message_t &msg) const;
virtual bool persist_streamrates() const { return false; }
void handle_request_data_stream(const mavlink_message_t &msg);
@ -412,7 +414,7 @@ protected:
void handle_param_request_list(const mavlink_message_t &msg);
void handle_param_request_read(const mavlink_message_t &msg);
virtual bool params_ready() const { return true; }
virtual void handle_rc_channels_override(const mavlink_message_t &msg);
void handle_rc_channels_override(const mavlink_message_t &msg);
void handle_system_time_message(const mavlink_message_t &msg);
void handle_common_rally_message(const mavlink_message_t &msg);
void handle_rally_fetch_point(const mavlink_message_t &msg);
@ -910,6 +912,16 @@ public:
return _statustext_queue;
}
// last time traffic was seen from my designated GCS. traffic
// includes heartbeats and some manual control messages.
uint32_t sysid_myggcs_last_seen_time_ms() const {
return _sysid_mygcs_last_seen_time_ms;
}
// called when valid traffic has been seen from our GCS
void sysid_myggcs_seen(uint32_t seen_time_ms) {
_sysid_mygcs_last_seen_time_ms = seen_time_ms;
}
void send_to_active_channels(uint32_t msgid, const char *pkt);
void send_text(MAV_SEVERITY severity, const char *fmt, ...) FMT_PRINTF(3, 4);
@ -1015,6 +1027,9 @@ private:
void update_sensor_status_flags();
// time we last saw traffic from our GCS
uint32_t _sysid_mygcs_last_seen_time_ms;
void service_statustext(void);
#if HAL_MEM_CLASS <= HAL_MEM_CLASS_192 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
static const uint8_t _status_capacity = 5;

18
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3278,6 +3278,9 @@ void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
RC_Channels::set_override(i, value, tnow);
}
}
gcs().sysid_myggcs_seen(tnow);
}
// allow override of RC channel values for HIL or for complete GCS
@ -3349,12 +3352,27 @@ void GCS_MAVLINK::handle_osd_param_config(const mavlink_message_t &msg) const
#endif
}
void GCS_MAVLINK::handle_heartbeat(const mavlink_message_t &msg) const
{
// if the heartbeat is from our GCS then we don't failsafe for
// now...
if (msg.sysid == sysid_my_gcs()) {
gcs().sysid_myggcs_seen(AP_HAL::millis());
}
}
/*
handle messages which don't require vehicle specific data
*/
void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT: {
handle_heartbeat(msg);
break;
}
case MAVLINK_MSG_ID_COMMAND_ACK: {
handle_command_ack(msg);
break;