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GCS_MAVLink: pass mavlink_message_t to handle_command_*_packet 

the "special case" blocks are getting longer and longer.  Merge the switch statements for the command type to be handled by passing around the message.
This commit is contained in:
Peter Barker 2023-08-17 17:53:02 +10:00 committed by Andrew Tridgell
parent aaec99ae31
commit b141cca3d5
2 changed files with 42 additions and 52 deletions
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8
libraries/GCS_MAVLink/GCS.h
View File

@ -515,7 +515,7 @@ protected:
void handle_command_int(const mavlink_message_t &msg);
MAV_RESULT handle_command_do_set_home(const mavlink_command_int_t &packet);
virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet);
virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
MAV_RESULT handle_command_int_external_position_estimate(const mavlink_command_int_t &packet);
virtual bool set_home_to_current_location(bool lock) = 0;
@ -644,13 +644,15 @@ protected:
MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_roi_none();
#if HAL_MOUNT_ENABLED
virtual MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
#endif
MAV_RESULT handle_command_mag_cal(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_fixed_mag_cal_yaw(const mavlink_command_int_t &packet);
MAV_RESULT try_command_long_as_command_int(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet);
MAV_RESULT try_command_long_as_command_int(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
virtual MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_send_banner(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_roi(const mavlink_command_int_t &packet);

86
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -4621,18 +4621,17 @@ MAV_RESULT GCS_MAVLINK::handle_command_accelcal_vehicle_pos(const mavlink_comman
}
#endif // HAL_INS_ACCELCAL_ENABLED
#if HAL_MOUNT_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_mount(const mavlink_command_long_t &packet, const mavlink_message_t &msg)
{
#if HAL_MOUNT_ENABLED
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return MAV_RESULT_UNSUPPORTED;
}
return mount->handle_command_long(packet, msg);
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}
#endif
MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_command_int_t &packet)
{
@ -4662,7 +4661,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_comman
return MAV_RESULT_UNSUPPORTED;
}
MAV_RESULT GCS_MAVLINK::try_command_long_as_command_int(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::try_command_long_as_command_int(const mavlink_command_long_t &packet, const mavlink_message_t &msg)
{
MAV_FRAME frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
if (command_long_stores_location((MAV_CMD)packet.command)) {
@ -4696,10 +4695,10 @@ MAV_RESULT GCS_MAVLINK::try_command_long_as_command_int(const mavlink_command_lo
mavlink_command_int_t command_int;
convert_COMMAND_LONG_to_COMMAND_INT(packet, command_int, frame);
return handle_command_int_packet(command_int);
return handle_command_int_packet(command_int, msg);
}
MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg)
{
MAV_RESULT result = MAV_RESULT_FAILED;
@ -4856,8 +4855,30 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
break;
#endif
case MAV_CMD_CAN_FORWARD:
result = handle_can_forward(packet, msg);
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
result = handle_preflight_reboot(packet, msg);
break;
case MAV_CMD_PREFLIGHT_CALIBRATION:
result = handle_command_preflight_calibration(packet, msg);
break;
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
// some mount commands require the source sysid and compid
result = handle_command_mount(packet, msg);
break;
#endif
default:
result = try_command_long_as_command_int(packet);
result = try_command_long_as_command_int(packet, msg);
break;
}
@ -4952,34 +4973,7 @@ void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
hal.util->persistent_data.last_mavlink_cmd = packet.command;
MAV_RESULT result;
// special handling of messages that need the mavlink_message_t
switch (packet.command) {
case MAV_CMD_CAN_FORWARD:
result = handle_can_forward(packet, msg);
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
result = handle_preflight_reboot(packet, msg);
break;
case MAV_CMD_PREFLIGHT_CALIBRATION:
result = handle_command_preflight_calibration(packet, msg);
break;
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
// some mount commands require the source sysid and compid
result = handle_command_mount(packet, msg);
break;
default:
result = handle_command_long_packet(packet);
break;
}
const MAV_RESULT result = handle_command_long_packet(packet, msg);
// send ACK or NAK
mavlink_msg_command_ack_send(chan, packet.command, result,
@ -5152,7 +5146,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_storage_format(const mavlink_command_int_
}
#endif
MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &packet)
MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{
switch (packet.command) {
case MAV_CMD_DO_SET_ROI:
@ -5192,7 +5186,13 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
return scripting->handle_command_int_packet(packet);
}
#endif // AP_SCRIPTING_ENABLED
#if AP_FILESYSTEM_FORMAT_ENABLED
case MAV_CMD_STORAGE_FORMAT:
return handle_command_storage_format(packet, msg);
#endif
}
return MAV_RESULT_UNSUPPORTED;
}
@ -5212,19 +5212,7 @@ void GCS_MAVLINK::handle_command_int(const mavlink_message_t &msg)
hal.util->persistent_data.last_mavlink_cmd = packet.command;
MAV_RESULT result;
// special handling of messages that need the mavlink_message_t
switch (packet.command) {
#if AP_FILESYSTEM_FORMAT_ENABLED
case MAV_CMD_STORAGE_FORMAT:
result = handle_command_storage_format(packet, msg);
break;
#endif
default:
result = handle_command_int_packet(packet);
break;
}
const MAV_RESULT result = handle_command_int_packet(packet, msg);
// send ACK or NAK
mavlink_msg_command_ack_send(chan, packet.command, result,