mirror of https://github.com/ArduPilot/ardupilot
GCS_MAVLink: pass mavlink_message_t by const reference
This commit is contained in:
Pierre Kancir
Peter Barker
parent
9a734c1fc7
commit
b1506ca652
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@ -320,7 +320,7 @@ public:
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// packetReceived is called on any successful decode of a mavlink message
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virtual void packetReceived(const mavlink_status_t &status,
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mavlink_message_t &msg);
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const mavlink_message_t &msg);
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// send a mavlink_message_t out this GCS_MAVLINK connection.
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// Caller is responsible for ensuring space.
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@ -463,7 +463,7 @@ public:
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send a MAVLink message to all components with this vehicle's system id
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This is a no-op if no routes to components have been learned
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*/
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static void send_to_components(const mavlink_message_t* msg) { routing.send_to_components(msg); }
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static void send_to_components(const mavlink_message_t &msg) { routing.send_to_components(msg); }
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/*
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allow forwarding of packets / heartbeats to be blocked as required by some components to reduce traffic
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@ -505,7 +505,7 @@ protected:
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// overridable method to check for packet acceptance. Allows for
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// enforcement of GCS sysid
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bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg);
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bool accept_packet(const mavlink_status_t &status, const mavlink_message_t &msg);
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virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; };
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virtual bool set_mode(uint8_t mode) = 0;
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void set_ekf_origin(const Location& loc);
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@ -525,11 +525,11 @@ protected:
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AP_Int16 streamRates[NUM_STREAMS];
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virtual bool persist_streamrates() const { return false; }
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void handle_request_data_stream(mavlink_message_t *msg);
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void handle_request_data_stream(const mavlink_message_t &msg);
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virtual void handle_command_ack(const mavlink_message_t* msg);
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void handle_set_mode(mavlink_message_t* msg);
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void handle_command_int(mavlink_message_t* msg);
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virtual void handle_command_ack(const mavlink_message_t &msg);
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void handle_set_mode(const mavlink_message_t &msg);
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void handle_command_int(const mavlink_message_t &msg);
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MAV_RESULT handle_command_int_do_set_home(const mavlink_command_int_t &packet);
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virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet);
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@ -539,35 +539,35 @@ protected:
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MAV_RESULT handle_command_do_set_home(const mavlink_command_long_t &packet);
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void handle_mission_request_list(const mavlink_message_t *msg);
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void handle_mission_request(mavlink_message_t *msg);
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void handle_mission_request_int(mavlink_message_t *msg);
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void handle_mission_clear_all(const mavlink_message_t *msg);
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virtual void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg);
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void handle_mission_count(const mavlink_message_t *msg);
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void handle_mission_write_partial_list(const mavlink_message_t *msg);
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void handle_mission_item(const mavlink_message_t *msg);
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void handle_mission_request_list(const mavlink_message_t &msg);
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void handle_mission_request(const mavlink_message_t &msg);
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void handle_mission_request_int(const mavlink_message_t &msg);
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void handle_mission_clear_all(const mavlink_message_t &msg);
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virtual void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg);
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void handle_mission_count(const mavlink_message_t &msg);
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void handle_mission_write_partial_list(const mavlink_message_t &msg);
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void handle_mission_item(const mavlink_message_t &msg);
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void handle_common_param_message(mavlink_message_t *msg);
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void handle_param_set(mavlink_message_t *msg);
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void handle_param_request_list(mavlink_message_t *msg);
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void handle_param_request_read(mavlink_message_t *msg);
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void handle_common_param_message(const mavlink_message_t &msg);
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void handle_param_set(const mavlink_message_t &msg);
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void handle_param_request_list(const mavlink_message_t &msg);
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void handle_param_request_read(const mavlink_message_t &msg);
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virtual bool params_ready() const { return true; }
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virtual void handle_rc_channels_override(const mavlink_message_t *msg);
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void handle_system_time_message(const mavlink_message_t *msg);
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void handle_common_rally_message(mavlink_message_t *msg);
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void handle_rally_fetch_point(mavlink_message_t *msg);
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void handle_rally_point(mavlink_message_t *msg);
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virtual void handle_mount_message(const mavlink_message_t *msg);
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void handle_fence_message(mavlink_message_t *msg);
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void handle_param_value(mavlink_message_t *msg);
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void handle_radio_status(mavlink_message_t *msg, bool log_radio);
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void handle_serial_control(const mavlink_message_t *msg);
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void handle_vision_position_delta(mavlink_message_t *msg);
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virtual void handle_rc_channels_override(const mavlink_message_t &msg);
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void handle_system_time_message(const mavlink_message_t &msg);
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void handle_common_rally_message(const mavlink_message_t &msg);
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void handle_rally_fetch_point(const mavlink_message_t &msg);
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void handle_rally_point(const mavlink_message_t &msg);
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virtual void handle_mount_message(const mavlink_message_t &msg);
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void handle_fence_message(const mavlink_message_t &msg);
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void handle_param_value(const mavlink_message_t &msg);
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void handle_radio_status(const mavlink_message_t &msg, bool log_radio);
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void handle_serial_control(const mavlink_message_t &msg);
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void handle_vision_position_delta(const mavlink_message_t &msg);
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void handle_common_message(mavlink_message_t *msg);
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void handle_set_gps_global_origin(const mavlink_message_t *msg);
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void handle_setup_signing(const mavlink_message_t *msg);
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void handle_common_message(const mavlink_message_t &msg);
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void handle_set_gps_global_origin(const mavlink_message_t &msg);
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void handle_setup_signing(const mavlink_message_t &msg);
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virtual bool should_zero_rc_outputs_on_reboot() const { return false; }
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MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet);
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@ -580,27 +580,27 @@ protected:
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MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet);
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virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);
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void handle_send_autopilot_version(const mavlink_message_t *msg);
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void handle_send_autopilot_version(const mavlink_message_t &msg);
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MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);
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virtual void send_banner();
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void handle_device_op_read(mavlink_message_t *msg);
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void handle_device_op_write(mavlink_message_t *msg);
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void handle_device_op_read(const mavlink_message_t &msg);
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void handle_device_op_write(const mavlink_message_t &msg);
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void send_timesync();
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// returns the time a timesync message was most likely received:
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uint64_t timesync_receive_timestamp_ns() const;
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// returns a timestamp suitable for packing into the ts1 field of TIMESYNC:
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uint64_t timesync_timestamp_ns() const;
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void handle_timesync(mavlink_message_t *msg);
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void handle_timesync(const mavlink_message_t &msg);
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struct {
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int64_t sent_ts1;
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uint32_t last_sent_ms;
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const uint16_t interval_ms = 10000;
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} _timesync_request;
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void handle_statustext(mavlink_message_t *msg);
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void handle_statustext(const mavlink_message_t &msg);
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bool telemetry_delayed() const;
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virtual uint32_t telem_delay() const = 0;
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@ -618,7 +618,7 @@ protected:
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MAV_RESULT handle_command_preflight_can(const mavlink_command_long_t &packet);
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MAV_RESULT handle_command_battery_reset(const mavlink_command_long_t &packet);
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void handle_command_long(mavlink_message_t* msg);
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void handle_command_long(const mavlink_message_t &msg);
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MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet);
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virtual MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet);
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MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet);
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@ -633,7 +633,7 @@ protected:
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MAV_RESULT handle_command_get_home_position(const mavlink_command_long_t &packet);
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MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &packet);
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void handle_optical_flow(const mavlink_message_t* msg);
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void handle_optical_flow(const mavlink_message_t &msg);
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// vehicle-overridable message send function
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virtual bool try_send_message(enum ap_message id);
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@ -643,7 +643,7 @@ protected:
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bool try_send_compass_message(enum ap_message id);
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bool try_send_mission_message(enum ap_message id);
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void send_hwstatus();
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void handle_data_packet(mavlink_message_t *msg);
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void handle_data_packet(const mavlink_message_t &msg);
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// these two methods are called after current_loc is updated:
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virtual int32_t global_position_int_alt() const;
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@ -667,7 +667,7 @@ private:
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MAV_RESULT _set_mode_common(const MAV_MODE base_mode, const uint32_t custom_mode);
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virtual void handleMessage(mavlink_message_t * msg) = 0;
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virtual void handleMessage(const mavlink_message_t &msg) = 0;
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MAV_RESULT handle_servorelay_message(const mavlink_command_long_t &packet);
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@ -834,12 +834,12 @@ private:
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virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0;
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virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) = 0;
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void handle_common_mission_message(mavlink_message_t *msg);
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void handle_common_mission_message(const mavlink_message_t &msg);
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void handle_vicon_position_estimate(mavlink_message_t *msg);
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void handle_vision_position_estimate(mavlink_message_t *msg);
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void handle_global_vision_position_estimate(mavlink_message_t *msg);
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void handle_att_pos_mocap(mavlink_message_t *msg);
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void handle_vicon_position_estimate(const mavlink_message_t &msg);
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void handle_vision_position_estimate(const mavlink_message_t &msg);
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void handle_global_vision_position_estimate(const mavlink_message_t &msg);
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void handle_att_pos_mocap(const mavlink_message_t &msg);
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void handle_common_vision_position_estimate_data(const uint64_t usec,
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const float x,
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const float y,
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@ -856,7 +856,7 @@ private:
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const float pitch,
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const float yaw);
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void lock_channel(mavlink_channel_t chan, bool lock);
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void lock_channel(const mavlink_channel_t chan, bool lock);
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/*
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correct an offboard timestamp in microseconds to a local time
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@ -524,23 +524,23 @@ MissionItemProtocol *GCS::get_prot_for_mission_type(const MAV_MISSION_TYPE missi
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}
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// handle a request for the number of items we have stored for a mission type:
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void GCS_MAVLINK::handle_mission_request_list(const mavlink_message_t *msg)
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void GCS_MAVLINK::handle_mission_request_list(const mavlink_message_t &msg)
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{
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// decode
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mavlink_mission_request_list_t packet;
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mavlink_msg_mission_request_list_decode(msg, &packet);
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mavlink_msg_mission_request_list_decode(&msg, &packet);
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MissionItemProtocol *prot = gcs().get_prot_for_mission_type((MAV_MISSION_TYPE)packet.mission_type);
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if (prot == nullptr) {
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mavlink_msg_mission_ack_send(chan,
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msg->sysid,
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msg->compid,
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msg.sysid,
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msg.compid,
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MAV_MISSION_UNSUPPORTED,
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packet.mission_type);
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return;
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}
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prot->handle_mission_request_list(*this, packet, *msg);
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prot->handle_mission_request_list(*this, packet, msg);
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}
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void MissionItemProtocol::handle_mission_request_list(
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@ -602,17 +602,17 @@ void MissionItemProtocol::handle_mission_request_int(const GCS_MAVLINK &_link,
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/*
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handle a MISSION_REQUEST mavlink packet
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*/
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void GCS_MAVLINK::handle_mission_request_int(mavlink_message_t *msg)
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void GCS_MAVLINK::handle_mission_request_int(const mavlink_message_t &msg)
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{
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// decode
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mavlink_mission_request_int_t packet;
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mavlink_msg_mission_request_int_decode(msg, &packet);
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mavlink_msg_mission_request_int_decode(&msg, &packet);
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MissionItemProtocol *prot = gcs().get_prot_for_mission_type((MAV_MISSION_TYPE)packet.mission_type);
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if (prot == nullptr) {
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return;
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}
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prot->handle_mission_request_int(*this, packet, *msg);
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prot->handle_mission_request_int(*this, packet, msg);
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}
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MAV_MISSION_RESULT MissionItemProtocol_Waypoints::get_item(const GCS_MAVLINK &_link,
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@ -657,17 +657,17 @@ MAV_MISSION_RESULT MissionItemProtocol_Waypoints::get_item(const GCS_MAVLINK &_l
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return MAV_MISSION_ACCEPTED;
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}
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void GCS_MAVLINK::handle_mission_request(mavlink_message_t *msg)
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void GCS_MAVLINK::handle_mission_request(const mavlink_message_t &msg)
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{
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// decode
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mavlink_mission_request_t packet;
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mavlink_msg_mission_request_decode(msg, &packet);
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mavlink_msg_mission_request_decode(&msg, &packet);
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MissionItemProtocol *prot = gcs().get_prot_for_mission_type((MAV_MISSION_TYPE)packet.mission_type);
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if (prot == nullptr) {
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return;
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}
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prot->handle_mission_request(*this, packet, *msg);
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prot->handle_mission_request(*this, packet, msg);
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}
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void MissionItemProtocol::convert_MISSION_REQUEST_to_MISSION_REQUEST_INT(const mavlink_mission_request_t &request, mavlink_mission_request_int_t &request_int)
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@ -713,11 +713,11 @@ void MissionItemProtocol::handle_mission_request(const GCS_MAVLINK &_link,
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/*
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handle a MISSION_SET_CURRENT mavlink packet
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*/
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void GCS_MAVLINK::handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg)
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void GCS_MAVLINK::handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg)
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{
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// decode
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mavlink_mission_set_current_t packet;
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mavlink_msg_mission_set_current_decode(msg, &packet);
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mavlink_msg_mission_set_current_decode(&msg, &packet);
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// set current command
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if (mission.set_current_cmd(packet.seq)) {
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@ -728,23 +728,23 @@ void GCS_MAVLINK::handle_mission_set_current(AP_Mission &mission, mavlink_messag
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/*
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handle a MISSION_COUNT mavlink packet
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*/
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void GCS_MAVLINK::handle_mission_count(const mavlink_message_t *msg)
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void GCS_MAVLINK::handle_mission_count(const mavlink_message_t &msg)
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{
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// decode
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mavlink_mission_count_t packet;
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mavlink_msg_mission_count_decode(msg, &packet);
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mavlink_msg_mission_count_decode(&msg, &packet);
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MissionItemProtocol *prot = gcs().get_prot_for_mission_type((MAV_MISSION_TYPE)packet.mission_type);
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if (prot == nullptr) {
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mavlink_msg_mission_ack_send(chan,
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msg->sysid,
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msg->compid,
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msg.sysid,
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msg.compid,
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MAV_MISSION_UNSUPPORTED,
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packet.mission_type);
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return;
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}
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prot->handle_mission_count(*this, packet, *msg);
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prot->handle_mission_count(*this, packet, msg);
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}
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void MissionItemProtocol::init_send_requests(GCS_MAVLINK &_link,
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@ -810,20 +810,20 @@ void MissionItemProtocol_Waypoints::truncate(const mavlink_mission_count_t &pack
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/*
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handle a MISSION_CLEAR_ALL mavlink packet
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*/
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void GCS_MAVLINK::handle_mission_clear_all(const mavlink_message_t *msg)
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void GCS_MAVLINK::handle_mission_clear_all(const mavlink_message_t &msg)
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{
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// decode
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mavlink_mission_clear_all_t packet;
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mavlink_msg_mission_clear_all_decode(msg, &packet);
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mavlink_msg_mission_clear_all_decode(&msg, &packet);
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const MAV_MISSION_TYPE mission_type = (MAV_MISSION_TYPE)packet.mission_type;
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MissionItemProtocol *prot = gcs().get_prot_for_mission_type(mission_type);
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if (prot == nullptr) {
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send_mission_ack(*msg, mission_type, MAV_MISSION_UNSUPPORTED);
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send_mission_ack(msg, mission_type, MAV_MISSION_UNSUPPORTED);
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return;
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}
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prot->handle_mission_clear_all(*this, *msg);
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prot->handle_mission_clear_all(*this, msg);
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}
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bool MissionItemProtocol_Waypoints::clear_all_items()
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@ -857,18 +857,18 @@ bool GCS_MAVLINK::requesting_mission_items() const
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return false;
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}
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void GCS_MAVLINK::handle_mission_write_partial_list(const mavlink_message_t *msg)
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void GCS_MAVLINK::handle_mission_write_partial_list(const mavlink_message_t &msg)
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{
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// decode
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mavlink_mission_write_partial_list_t packet;
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mavlink_msg_mission_write_partial_list_decode(msg, &packet);
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mavlink_msg_mission_write_partial_list_decode(&msg, &packet);
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MissionItemProtocol *use_prot = gcs().get_prot_for_mission_type((MAV_MISSION_TYPE)packet.mission_type);
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if (use_prot == nullptr) {
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send_mission_ack(*msg, (MAV_MISSION_TYPE)packet.mission_type, MAV_MISSION_UNSUPPORTED);
|
||||
send_mission_ack(msg, (MAV_MISSION_TYPE)packet.mission_type, MAV_MISSION_UNSUPPORTED);
|
||||
return;
|
||||
}
|
||||
use_prot->handle_mission_write_partial_list(*this, *msg, packet);
|
||||
use_prot->handle_mission_write_partial_list(*this, msg, packet);
|
||||
}
|
||||
|
||||
void MissionItemProtocol::handle_mission_write_partial_list(GCS_MAVLINK &_link,
|
||||
|
|
@ -892,7 +892,7 @@ void MissionItemProtocol::handle_mission_write_partial_list(GCS_MAVLINK &_link,
|
|||
/*
|
||||
pass mavlink messages to the AP_Mount singleton
|
||||
*/
|
||||
void GCS_MAVLINK::handle_mount_message(const mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_mount_message(const mavlink_message_t &msg)
|
||||
{
|
||||
AP_Mount *mount = AP::mount();
|
||||
if (mount == nullptr) {
|
||||
|
|
@ -904,7 +904,7 @@ void GCS_MAVLINK::handle_mount_message(const mavlink_message_t *msg)
|
|||
/*
|
||||
pass parameter value messages through to mount library
|
||||
*/
|
||||
void GCS_MAVLINK::handle_param_value(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_param_value(const mavlink_message_t &msg)
|
||||
{
|
||||
AP_Mount *mount = AP::mount();
|
||||
if (mount == nullptr) {
|
||||
|
|
@ -927,10 +927,10 @@ void GCS_MAVLINK::send_text(MAV_SEVERITY severity, const char *fmt, ...) const
|
|||
va_end(arg_list);
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_radio_status(mavlink_message_t *msg, bool log_radio)
|
||||
void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_radio)
|
||||
{
|
||||
mavlink_radio_t packet;
|
||||
mavlink_msg_radio_decode(msg, &packet);
|
||||
mavlink_msg_radio_decode(&msg, &packet);
|
||||
|
||||
// record if the GCS has been receiving radio messages from
|
||||
// the aircraft
|
||||
|
|
@ -971,21 +971,21 @@ void GCS_MAVLINK::handle_radio_status(mavlink_message_t *msg, bool log_radio)
|
|||
handle an incoming mission item
|
||||
return true if this is the last mission item, otherwise false
|
||||
*/
|
||||
void GCS_MAVLINK::handle_mission_item(const mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
|
||||
{
|
||||
// TODO: rename packet to mission_item_int
|
||||
mavlink_mission_item_int_t packet;
|
||||
if (msg->msgid == MAVLINK_MSG_ID_MISSION_ITEM) {
|
||||
if (msg.msgid == MAVLINK_MSG_ID_MISSION_ITEM) {
|
||||
mavlink_mission_item_t mission_item;
|
||||
mavlink_msg_mission_item_decode(msg, &mission_item);
|
||||
mavlink_msg_mission_item_decode(&msg, &mission_item);
|
||||
MAV_MISSION_RESULT ret = AP_Mission::convert_MISSION_ITEM_to_MISSION_ITEM_INT(mission_item, packet);
|
||||
if (ret != MAV_MISSION_ACCEPTED) {
|
||||
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)packet.mission_type;
|
||||
send_mission_ack(*msg, type, ret);
|
||||
send_mission_ack(msg, type, ret);
|
||||
return;
|
||||
}
|
||||
} else {
|
||||
mavlink_msg_mission_item_int_decode(msg, &packet);
|
||||
mavlink_msg_mission_item_int_decode(&msg, &packet);
|
||||
}
|
||||
const uint8_t current = packet.current;
|
||||
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)packet.mission_type;
|
||||
|
|
@ -995,7 +995,7 @@ void GCS_MAVLINK::handle_mission_item(const mavlink_message_t *msg)
|
|||
MAV_MISSION_RESULT result = AP_Mission::mavlink_int_to_mission_cmd(packet, cmd);
|
||||
if (result != MAV_MISSION_ACCEPTED) {
|
||||
//decode failed
|
||||
send_mission_ack(*msg, MAV_MISSION_TYPE_MISSION, result);
|
||||
send_mission_ack(msg, MAV_MISSION_TYPE_MISSION, result);
|
||||
return;
|
||||
}
|
||||
// guided or change-alt
|
||||
|
|
@ -1012,23 +1012,23 @@ void GCS_MAVLINK::handle_mission_item(const mavlink_message_t *msg)
|
|||
// verify we recevied the command
|
||||
result = MAV_MISSION_ACCEPTED;
|
||||
}
|
||||
send_mission_ack(*msg, MAV_MISSION_TYPE_MISSION, result);
|
||||
send_mission_ack(msg, MAV_MISSION_TYPE_MISSION, result);
|
||||
return;
|
||||
}
|
||||
|
||||
// not a guided-mode reqest
|
||||
MissionItemProtocol *prot = gcs().get_prot_for_mission_type(type);
|
||||
if (prot == nullptr) {
|
||||
send_mission_ack(*msg, type, MAV_MISSION_UNSUPPORTED);
|
||||
send_mission_ack(msg, type, MAV_MISSION_UNSUPPORTED);
|
||||
return;
|
||||
}
|
||||
|
||||
if (!prot->receiving) {
|
||||
send_mission_ack(*msg, type, MAV_MISSION_ERROR);
|
||||
send_mission_ack(msg, type, MAV_MISSION_ERROR);
|
||||
return;
|
||||
}
|
||||
|
||||
prot->handle_mission_item(*msg, packet);
|
||||
prot->handle_mission_item(msg, packet);
|
||||
}
|
||||
|
||||
MAV_MISSION_RESULT MissionItemProtocol_Waypoints::replace_item(const mavlink_mission_item_int_t &mission_item_int)
|
||||
|
|
@ -1693,7 +1693,7 @@ void GCS_MAVLINK::send_message(enum ap_message id)
|
|||
}
|
||||
|
||||
void GCS_MAVLINK::packetReceived(const mavlink_status_t &status,
|
||||
mavlink_message_t &msg)
|
||||
const mavlink_message_t &msg)
|
||||
{
|
||||
// we exclude radio packets because we historically used this to
|
||||
// make it possible to use the CLI over the radio
|
||||
|
|
@ -1714,7 +1714,7 @@ void GCS_MAVLINK::packetReceived(const mavlink_status_t &status,
|
|||
cstatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
|
||||
}
|
||||
}
|
||||
if (!routing.check_and_forward(chan, &msg)) {
|
||||
if (!routing.check_and_forward(chan, msg)) {
|
||||
// the routing code has indicated we should not handle this packet locally
|
||||
return;
|
||||
}
|
||||
|
|
@ -1722,7 +1722,7 @@ void GCS_MAVLINK::packetReceived(const mavlink_status_t &status,
|
|||
// e.g. enforce-sysid says we shouldn't look at this packet
|
||||
return;
|
||||
}
|
||||
handleMessage(&msg);
|
||||
handleMessage(msg);
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -2340,10 +2340,10 @@ void GCS_MAVLINK::send_battery2()
|
|||
/*
|
||||
handle a SET_MODE MAVLink message
|
||||
*/
|
||||
void GCS_MAVLINK::handle_set_mode(mavlink_message_t* msg)
|
||||
void GCS_MAVLINK::handle_set_mode(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_set_mode_t packet;
|
||||
mavlink_msg_set_mode_decode(msg, &packet);
|
||||
mavlink_msg_set_mode_decode(&msg, &packet);
|
||||
|
||||
const MAV_MODE _base_mode = (MAV_MODE)packet.base_mode;
|
||||
const uint32_t _custom_mode = packet.custom_mode;
|
||||
|
|
@ -2904,11 +2904,11 @@ uint64_t GCS_MAVLINK::timesync_timestamp_ns() const
|
|||
return a timesync request
|
||||
Sends back ts1 as received, and tc1 is the local timestamp in usec
|
||||
*/
|
||||
void GCS_MAVLINK::handle_timesync(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_timesync(const mavlink_message_t &msg)
|
||||
{
|
||||
// decode incoming timesync message
|
||||
mavlink_timesync_t tsync;
|
||||
mavlink_msg_timesync_decode(msg, &tsync);
|
||||
mavlink_msg_timesync_decode(&msg, &tsync);
|
||||
|
||||
if (tsync.tc1 != 0) {
|
||||
// this is a response to a timesync request
|
||||
|
|
@ -2921,7 +2921,7 @@ void GCS_MAVLINK::handle_timesync(mavlink_message_t *msg)
|
|||
#if 0
|
||||
gcs().send_text(MAV_SEVERITY_INFO,
|
||||
"timesync response sysid=%u (latency=%fms)",
|
||||
msg->sysid,
|
||||
msg.sysid,
|
||||
round_trip_time_us*0.001f);
|
||||
#endif
|
||||
AP_Logger *logger = AP_Logger::get_singleton();
|
||||
|
|
@ -2933,7 +2933,7 @@ void GCS_MAVLINK::handle_timesync(mavlink_message_t *msg)
|
|||
"F-F",
|
||||
"QBQ",
|
||||
AP_HAL::micros64(),
|
||||
msg->sysid,
|
||||
msg.sysid,
|
||||
round_trip_time_us
|
||||
);
|
||||
}
|
||||
|
|
@ -2973,7 +2973,7 @@ void GCS_MAVLINK::send_timesync()
|
|||
);
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_statustext(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_statustext(const mavlink_message_t &msg)
|
||||
{
|
||||
AP_Logger *logger = AP_Logger::get_singleton();
|
||||
if (logger == nullptr) {
|
||||
|
|
@ -2981,18 +2981,18 @@ void GCS_MAVLINK::handle_statustext(mavlink_message_t *msg)
|
|||
}
|
||||
|
||||
mavlink_statustext_t packet;
|
||||
mavlink_msg_statustext_decode(msg, &packet);
|
||||
mavlink_msg_statustext_decode(&msg, &packet);
|
||||
const uint8_t max_prefix_len = 20;
|
||||
const uint8_t text_len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1+max_prefix_len;
|
||||
char text[text_len] = { 'G','C','S',':'};
|
||||
uint8_t offset = strlen(text);
|
||||
|
||||
if (msg->sysid != sysid_my_gcs()) {
|
||||
if (msg.sysid != sysid_my_gcs()) {
|
||||
offset = hal.util->snprintf(text,
|
||||
max_prefix_len,
|
||||
"SRC=%u/%u:",
|
||||
msg->sysid,
|
||||
msg->compid);
|
||||
msg.sysid,
|
||||
msg.compid);
|
||||
}
|
||||
|
||||
memcpy(&text[offset], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
|
||||
|
|
@ -3001,10 +3001,10 @@ void GCS_MAVLINK::handle_statustext(mavlink_message_t *msg)
|
|||
}
|
||||
|
||||
|
||||
void GCS_MAVLINK::handle_system_time_message(const mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_system_time_message(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_system_time_t packet;
|
||||
mavlink_msg_system_time_decode(msg, &packet);
|
||||
mavlink_msg_system_time_decode(&msg, &packet);
|
||||
|
||||
AP::rtc().set_utc_usec(packet.time_unix_usec, AP_RTC::SOURCE_MAVLINK_SYSTEM_TIME);
|
||||
}
|
||||
|
|
@ -3079,10 +3079,10 @@ void GCS_MAVLINK::set_ekf_origin(const Location& loc)
|
|||
}
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_set_gps_global_origin(const mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_set_gps_global_origin(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_set_gps_global_origin_t packet;
|
||||
mavlink_msg_set_gps_global_origin_decode(msg, &packet);
|
||||
mavlink_msg_set_gps_global_origin_decode(&msg, &packet);
|
||||
|
||||
// sanity check location
|
||||
if (!check_latlng(packet.latitude, packet.longitude)) {
|
||||
|
|
@ -3100,11 +3100,11 @@ void GCS_MAVLINK::handle_set_gps_global_origin(const mavlink_message_t *msg)
|
|||
/*
|
||||
handle a DATA96 message
|
||||
*/
|
||||
void GCS_MAVLINK::handle_data_packet(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_data_packet(const mavlink_message_t &msg)
|
||||
{
|
||||
#if HAL_RCINPUT_WITH_AP_RADIO
|
||||
mavlink_data96_t m;
|
||||
mavlink_msg_data96_decode(msg, &m);
|
||||
mavlink_msg_data96_decode(&msg, &m);
|
||||
switch (m.type) {
|
||||
case 42:
|
||||
case 43: {
|
||||
|
|
@ -3122,7 +3122,7 @@ void GCS_MAVLINK::handle_data_packet(mavlink_message_t *msg)
|
|||
#endif
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_vision_position_delta(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_vision_position_delta(const mavlink_message_t &msg)
|
||||
{
|
||||
AP_VisualOdom *visual_odom = AP::visualodom();
|
||||
if (visual_odom == nullptr) {
|
||||
|
|
@ -3131,28 +3131,28 @@ void GCS_MAVLINK::handle_vision_position_delta(mavlink_message_t *msg)
|
|||
visual_odom->handle_msg(msg);
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_vision_position_estimate(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_vision_position_estimate(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_vision_position_estimate_t m;
|
||||
mavlink_msg_vision_position_estimate_decode(msg, &m);
|
||||
mavlink_msg_vision_position_estimate_decode(&msg, &m);
|
||||
|
||||
handle_common_vision_position_estimate_data(m.usec, m.x, m.y, m.z, m.roll, m.pitch, m.yaw,
|
||||
PAYLOAD_SIZE(chan, VISION_POSITION_ESTIMATE));
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_global_vision_position_estimate(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_global_vision_position_estimate(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_global_vision_position_estimate_t m;
|
||||
mavlink_msg_global_vision_position_estimate_decode(msg, &m);
|
||||
mavlink_msg_global_vision_position_estimate_decode(&msg, &m);
|
||||
|
||||
handle_common_vision_position_estimate_data(m.usec, m.x, m.y, m.z, m.roll, m.pitch, m.yaw,
|
||||
PAYLOAD_SIZE(chan, GLOBAL_VISION_POSITION_ESTIMATE));
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_vicon_position_estimate(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_vicon_position_estimate(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_vicon_position_estimate_t m;
|
||||
mavlink_msg_vicon_position_estimate_decode(msg, &m);
|
||||
mavlink_msg_vicon_position_estimate_decode(&msg, &m);
|
||||
|
||||
handle_common_vision_position_estimate_data(m.usec, m.x, m.y, m.z, m.roll, m.pitch, m.yaw,
|
||||
PAYLOAD_SIZE(chan, VICON_POSITION_ESTIMATE));
|
||||
|
|
@ -3218,10 +3218,10 @@ void GCS_MAVLINK::log_vision_position_estimate_data(const uint64_t usec,
|
|||
(double)(yaw * RAD_TO_DEG));
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_att_pos_mocap(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_att_pos_mocap(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_att_pos_mocap_t m;
|
||||
mavlink_msg_att_pos_mocap_decode(msg, &m);
|
||||
mavlink_msg_att_pos_mocap_decode(&msg, &m);
|
||||
|
||||
// sensor assumed to be at 0,0,0 body-frame; need parameters for this?
|
||||
const Vector3f sensor_offset = {};
|
||||
|
|
@ -3254,7 +3254,7 @@ void GCS_MAVLINK::handle_att_pos_mocap(mavlink_message_t *msg)
|
|||
log_vision_position_estimate_data(m.time_usec, m.x, m.y, m.z, roll, pitch, yaw);
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_command_ack(const mavlink_message_t* msg)
|
||||
void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg)
|
||||
{
|
||||
AP_AccelCal *accelcal = AP::ins().get_acal();
|
||||
if (accelcal != nullptr) {
|
||||
|
|
@ -3264,16 +3264,16 @@ void GCS_MAVLINK::handle_command_ack(const mavlink_message_t* msg)
|
|||
|
||||
// allow override of RC channel values for HIL or for complete GCS
|
||||
// control of switch position and RC PWM values.
|
||||
void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
|
||||
{
|
||||
if(msg->sysid != sysid_my_gcs()) {
|
||||
if(msg.sysid != sysid_my_gcs()) {
|
||||
return; // Only accept control from our gcs
|
||||
}
|
||||
|
||||
const uint32_t tnow = AP_HAL::millis();
|
||||
|
||||
mavlink_rc_channels_override_t packet;
|
||||
mavlink_msg_rc_channels_override_decode(msg, &packet);
|
||||
mavlink_msg_rc_channels_override_decode(&msg, &packet);
|
||||
|
||||
const uint16_t override_data[] = {
|
||||
packet.chan1_raw,
|
||||
|
|
@ -3304,7 +3304,7 @@ void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t *msg)
|
|||
|
||||
// allow override of RC channel values for HIL or for complete GCS
|
||||
// control of switch position and RC PWM values.
|
||||
void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
|
||||
{
|
||||
OpticalFlow *optflow = AP::opticalflow();
|
||||
if (optflow == nullptr) {
|
||||
|
|
@ -3316,9 +3316,9 @@ void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t *msg)
|
|||
/*
|
||||
handle messages which don't require vehicle specific data
|
||||
*/
|
||||
void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
|
||||
{
|
||||
switch (msg->msgid) {
|
||||
switch (msg.msgid) {
|
||||
case MAVLINK_MSG_ID_COMMAND_ACK: {
|
||||
handle_command_ack(msg);
|
||||
break;
|
||||
|
|
@ -3485,13 +3485,13 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
|
|||
}
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_common_mission_message(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)
|
||||
{
|
||||
AP_Mission *_mission = AP::mission();
|
||||
if (_mission == nullptr) {
|
||||
return;
|
||||
}
|
||||
switch (msg->msgid) {
|
||||
switch (msg.msgid) {
|
||||
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: // MAV ID: 38
|
||||
{
|
||||
handle_mission_write_partial_list(msg);
|
||||
|
|
@ -3545,7 +3545,7 @@ void GCS_MAVLINK::handle_common_mission_message(mavlink_message_t *msg)
|
|||
}
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t &msg)
|
||||
{
|
||||
send_autopilot_version();
|
||||
}
|
||||
|
|
@ -4034,11 +4034,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
|
|||
return result;
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_command_long(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
|
||||
{
|
||||
// decode packet
|
||||
mavlink_command_long_t packet;
|
||||
mavlink_msg_command_long_decode(msg, &packet);
|
||||
mavlink_msg_command_long_decode(&msg, &packet);
|
||||
|
||||
hal.util->persistent_data.last_mavlink_cmd = packet.command;
|
||||
|
||||
|
|
@ -4155,11 +4155,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
|
|||
return MAV_RESULT_UNSUPPORTED;
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_command_int(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_command_int(const mavlink_message_t &msg)
|
||||
{
|
||||
// decode packet
|
||||
mavlink_command_int_t packet;
|
||||
mavlink_msg_command_int_decode(msg, &packet);
|
||||
mavlink_msg_command_int_decode(&msg, &packet);
|
||||
|
||||
hal.util->persistent_data.last_mavlink_cmd = packet.command;
|
||||
|
||||
|
|
@ -4825,7 +4825,7 @@ uint32_t GCS_MAVLINK::correct_offboard_timestamp_usec_to_ms(uint64_t offboard_us
|
|||
return true if we will accept this packet. Used to implement SYSID_ENFORCE
|
||||
*/
|
||||
bool GCS_MAVLINK::accept_packet(const mavlink_status_t &status,
|
||||
mavlink_message_t &msg)
|
||||
const mavlink_message_t &msg)
|
||||
{
|
||||
if (msg.sysid == mavlink_system.sysid) {
|
||||
// accept packets from our own components
|
||||
|
|
|
|||
|
|
@ -26,10 +26,10 @@ extern const AP_HAL::HAL& hal;
|
|||
/*
|
||||
handle DEVICE_OP_READ message
|
||||
*/
|
||||
void GCS_MAVLINK::handle_device_op_read(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_device_op_read(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_device_op_read_t packet;
|
||||
mavlink_msg_device_op_read_decode(msg, &packet);
|
||||
mavlink_msg_device_op_read_decode(&msg, &packet);
|
||||
AP_HAL::OwnPtr<AP_HAL::Device> dev = nullptr;
|
||||
uint8_t retcode = 0;
|
||||
uint8_t data[sizeof(mavlink_device_op_read_reply_t::data)] {};
|
||||
|
|
@ -78,10 +78,10 @@ fail:
|
|||
/*
|
||||
handle DEVICE_OP_WRITE message
|
||||
*/
|
||||
void GCS_MAVLINK::handle_device_op_write(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_device_op_write(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_device_op_write_t packet;
|
||||
mavlink_msg_device_op_write_decode(msg, &packet);
|
||||
mavlink_msg_device_op_write_decode(&msg, &packet);
|
||||
AP_HAL::OwnPtr<AP_HAL::Device> dev = nullptr;
|
||||
uint8_t retcode = 0;
|
||||
|
||||
|
|
|
|||
|
|
@ -24,7 +24,7 @@ const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] {};
|
|||
class GCS_MAVLINK_Dummy : public GCS_MAVLINK
|
||||
{
|
||||
uint32_t telem_delay() const override { return 0; }
|
||||
void handleMessage(mavlink_message_t * msg) override {}
|
||||
void handleMessage(const mavlink_message_t &msg) override {}
|
||||
bool try_send_message(enum ap_message id) override { return true; }
|
||||
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; }
|
||||
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override {}
|
||||
|
|
|
|||
|
|
@ -21,14 +21,14 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_lon
|
|||
}
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_fence_message(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_fence_message(const mavlink_message_t &msg)
|
||||
{
|
||||
AC_Fence *fence = AP::fence();
|
||||
if (fence == nullptr) {
|
||||
return;
|
||||
}
|
||||
// send or receive fence points with GCS
|
||||
switch (msg->msgid) {
|
||||
switch (msg.msgid) {
|
||||
case MAVLINK_MSG_ID_FENCE_POINT:
|
||||
case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
|
||||
fence->handle_msg(*this, msg);
|
||||
|
|
|
|||
|
|
@ -125,10 +125,10 @@ bool GCS_MAVLINK::have_flow_control(void)
|
|||
save==false so we don't want the save to happen when the user connects the
|
||||
ground station.
|
||||
*/
|
||||
void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_request_data_stream(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_request_data_stream_t packet;
|
||||
mavlink_msg_request_data_stream_decode(msg, &packet);
|
||||
mavlink_msg_request_data_stream_decode(&msg, &packet);
|
||||
|
||||
int16_t freq = 0; // packet frequency
|
||||
|
||||
|
|
@ -202,14 +202,14 @@ void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg)
|
|||
}
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_param_request_list(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_param_request_list(const mavlink_message_t &msg)
|
||||
{
|
||||
if (!params_ready()) {
|
||||
return;
|
||||
}
|
||||
|
||||
mavlink_param_request_list_t packet;
|
||||
mavlink_msg_param_request_list_decode(msg, &packet);
|
||||
mavlink_msg_param_request_list_decode(&msg, &packet);
|
||||
|
||||
// requesting parameters is a convenient way to get extra information
|
||||
send_banner();
|
||||
|
|
@ -221,7 +221,7 @@ void GCS_MAVLINK::handle_param_request_list(mavlink_message_t *msg)
|
|||
_queued_parameter_send_time_ms = AP_HAL::millis(); // avoid initial flooding
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_param_request_read(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_param_request_read(const mavlink_message_t &msg)
|
||||
{
|
||||
if (param_requests.space() == 0) {
|
||||
// we can't process this right now, drop it
|
||||
|
|
@ -229,7 +229,7 @@ void GCS_MAVLINK::handle_param_request_read(mavlink_message_t *msg)
|
|||
}
|
||||
|
||||
mavlink_param_request_read_t packet;
|
||||
mavlink_msg_param_request_read_decode(msg, &packet);
|
||||
mavlink_msg_param_request_read_decode(&msg, &packet);
|
||||
|
||||
/*
|
||||
we reserve some space for sending parameters if the client ever
|
||||
|
|
@ -259,10 +259,10 @@ void GCS_MAVLINK::handle_param_request_read(mavlink_message_t *msg)
|
|||
}
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_param_set(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_param_set_t packet;
|
||||
mavlink_msg_param_set_decode(msg, &packet);
|
||||
mavlink_msg_param_set_decode(&msg, &packet);
|
||||
enum ap_var_type var_type;
|
||||
|
||||
// set parameter
|
||||
|
|
@ -417,9 +417,9 @@ uint8_t GCS_MAVLINK::send_parameter_async_replies()
|
|||
return async_replies_sent_count;
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_common_param_message(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_common_param_message(const mavlink_message_t &msg)
|
||||
{
|
||||
switch (msg->msgid) {
|
||||
switch (msg.msgid) {
|
||||
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
|
||||
handle_param_request_list(msg);
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -19,7 +19,7 @@
|
|||
#include <AP_Rally/AP_Rally.h>
|
||||
#include <AP_Logger/AP_Logger.h>
|
||||
|
||||
void GCS_MAVLINK::handle_rally_point(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_rally_point(const mavlink_message_t &msg)
|
||||
{
|
||||
AP_Rally *r = AP::rally();
|
||||
if (r == nullptr) {
|
||||
|
|
@ -27,7 +27,7 @@ void GCS_MAVLINK::handle_rally_point(mavlink_message_t *msg)
|
|||
}
|
||||
|
||||
mavlink_rally_point_t packet;
|
||||
mavlink_msg_rally_point_decode(msg, &packet);
|
||||
mavlink_msg_rally_point_decode(&msg, &packet);
|
||||
|
||||
if (packet.idx >= r->get_rally_total() ||
|
||||
packet.idx >= r->get_rally_max()) {
|
||||
|
|
@ -58,7 +58,7 @@ void GCS_MAVLINK::handle_rally_point(mavlink_message_t *msg)
|
|||
}
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_rally_fetch_point(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_rally_fetch_point(const mavlink_message_t &msg)
|
||||
{
|
||||
AP_Rally *r = AP::rally();
|
||||
if (r == nullptr) {
|
||||
|
|
@ -66,7 +66,7 @@ void GCS_MAVLINK::handle_rally_fetch_point(mavlink_message_t *msg)
|
|||
}
|
||||
|
||||
mavlink_rally_fetch_point_t packet;
|
||||
mavlink_msg_rally_fetch_point_decode(msg, &packet);
|
||||
mavlink_msg_rally_fetch_point_decode(&msg, &packet);
|
||||
|
||||
if (packet.idx > r->get_rally_total()) {
|
||||
send_text(MAV_SEVERITY_WARNING, "Bad rally point ID");
|
||||
|
|
@ -79,15 +79,15 @@ void GCS_MAVLINK::handle_rally_fetch_point(mavlink_message_t *msg)
|
|||
return;
|
||||
}
|
||||
|
||||
mavlink_msg_rally_point_send(chan, msg->sysid, msg->compid, packet.idx,
|
||||
mavlink_msg_rally_point_send(chan, msg.sysid, msg.compid, packet.idx,
|
||||
r->get_rally_total(), rally_point.lat, rally_point.lng,
|
||||
rally_point.alt, rally_point.break_alt, rally_point.land_dir,
|
||||
rally_point.flags);
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::handle_common_rally_message(mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_common_rally_message(const mavlink_message_t &msg)
|
||||
{
|
||||
switch (msg->msgid) {
|
||||
switch (msg.msgid) {
|
||||
case MAVLINK_MSG_ID_RALLY_POINT:
|
||||
handle_rally_point(msg);
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -63,7 +63,7 @@ bool GCS_MAVLINK::signing_key_load(struct SigningKey &key)
|
|||
/*
|
||||
handle a setup_signing message
|
||||
*/
|
||||
void GCS_MAVLINK::handle_setup_signing(const mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_setup_signing(const mavlink_message_t &msg)
|
||||
{
|
||||
// setting up signing key when armed generally not useful /
|
||||
// possibly not a good idea
|
||||
|
|
@ -74,7 +74,7 @@ void GCS_MAVLINK::handle_setup_signing(const mavlink_message_t *msg)
|
|||
|
||||
// decode
|
||||
mavlink_setup_signing_t packet;
|
||||
mavlink_msg_setup_signing_decode(msg, &packet);
|
||||
mavlink_msg_setup_signing_decode(&msg, &packet);
|
||||
|
||||
struct SigningKey key;
|
||||
key.magic = SIGNING_KEY_MAGIC;
|
||||
|
|
|
|||
|
|
@ -28,10 +28,10 @@ extern const AP_HAL::HAL& hal;
|
|||
/**
|
||||
handle a SERIAL_CONTROL message
|
||||
*/
|
||||
void GCS_MAVLINK::handle_serial_control(const mavlink_message_t *msg)
|
||||
void GCS_MAVLINK::handle_serial_control(const mavlink_message_t &msg)
|
||||
{
|
||||
mavlink_serial_control_t packet;
|
||||
mavlink_msg_serial_control_decode(msg, &packet);
|
||||
mavlink_msg_serial_control_decode(&msg, &packet);
|
||||
|
||||
AP_HAL::UARTDriver *port = nullptr;
|
||||
AP_HAL::BetterStream *stream = nullptr;
|
||||
|
|
|
|||
|
|
@ -88,31 +88,31 @@ detect a reset of the flight controller, which implies a reset of its
|
|||
routing table.
|
||||
|
||||
*/
|
||||
bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavlink_message_t* msg)
|
||||
bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavlink_message_t &msg)
|
||||
{
|
||||
// handle the case of loopback of our own messages, due to
|
||||
// incorrect serial configuration.
|
||||
if (msg->sysid == mavlink_system.sysid &&
|
||||
msg->compid == mavlink_system.compid) {
|
||||
if (msg.sysid == mavlink_system.sysid &&
|
||||
msg.compid == mavlink_system.compid) {
|
||||
return true;
|
||||
}
|
||||
|
||||
// learn new routes
|
||||
learn_route(in_channel, msg);
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_RADIO ||
|
||||
msg->msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
|
||||
if (msg.msgid == MAVLINK_MSG_ID_RADIO ||
|
||||
msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
|
||||
// don't forward RADIO packets
|
||||
return true;
|
||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_HEARTBEAT) {
|
||||
if (msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
|
||||
// heartbeat needs special handling
|
||||
handle_heartbeat(in_channel, msg);
|
||||
return true;
|
||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_ADSB_VEHICLE) {
|
||||
if (msg.msgid == MAVLINK_MSG_ID_ADSB_VEHICLE) {
|
||||
// ADSB packets are not forwarded, they have their own stream rate
|
||||
return true;
|
||||
}
|
||||
|
|
@ -154,17 +154,17 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
|
|||
|
||||
if (in_channel != routes[i].channel && !sent_to_chan[routes[i].channel]) {
|
||||
|
||||
if (comm_get_txspace(routes[i].channel) >= ((uint16_t)msg->len) +
|
||||
if (comm_get_txspace(routes[i].channel) >= ((uint16_t)msg.len) +
|
||||
GCS_MAVLINK::packet_overhead_chan(routes[i].channel)) {
|
||||
#if ROUTING_DEBUG
|
||||
::printf("fwd msg %u from chan %u on chan %u sysid=%d compid=%d\n",
|
||||
msg->msgid,
|
||||
msg.msgid,
|
||||
(unsigned)in_channel,
|
||||
(unsigned)routes[i].channel,
|
||||
(int)target_system,
|
||||
(int)target_component);
|
||||
#endif
|
||||
_mavlink_resend_uart(routes[i].channel, msg);
|
||||
_mavlink_resend_uart(routes[i].channel, &msg);
|
||||
}
|
||||
sent_to_chan[routes[i].channel] = true;
|
||||
forwarded = true;
|
||||
|
|
@ -184,7 +184,7 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
|
|||
|
||||
This is a no-op if no routes to components have been learned
|
||||
*/
|
||||
void MAVLink_routing::send_to_components(const mavlink_message_t* msg)
|
||||
void MAVLink_routing::send_to_components(const mavlink_message_t &msg)
|
||||
{
|
||||
bool sent_to_chan[MAVLINK_COMM_NUM_BUFFERS];
|
||||
memset(sent_to_chan, 0, sizeof(sent_to_chan));
|
||||
|
|
@ -192,16 +192,16 @@ void MAVLink_routing::send_to_components(const mavlink_message_t* msg)
|
|||
// check learned routes
|
||||
for (uint8_t i=0; i<num_routes; i++) {
|
||||
if ((routes[i].sysid == mavlink_system.sysid) && !sent_to_chan[routes[i].channel]) {
|
||||
if (comm_get_txspace(routes[i].channel) >= ((uint16_t)msg->len) +
|
||||
if (comm_get_txspace(routes[i].channel) >= ((uint16_t)msg.len) +
|
||||
GCS_MAVLINK::packet_overhead_chan(routes[i].channel)) {
|
||||
#if ROUTING_DEBUG
|
||||
::printf("send msg %u on chan %u sysid=%u compid=%u\n",
|
||||
msg->msgid,
|
||||
msg.msgid,
|
||||
(unsigned)routes[i].channel,
|
||||
(unsigned)routes[i].sysid,
|
||||
(unsigned)routes[i].compid);
|
||||
#endif
|
||||
_mavlink_resend_uart(routes[i].channel, msg);
|
||||
_mavlink_resend_uart(routes[i].channel, &msg);
|
||||
sent_to_chan[routes[i].channel] = true;
|
||||
}
|
||||
}
|
||||
|
|
@ -231,36 +231,36 @@ bool MAVLink_routing::find_by_mavtype(uint8_t mavtype, uint8_t &sysid, uint8_t &
|
|||
/*
|
||||
see if the message is for a new route and learn it
|
||||
*/
|
||||
void MAVLink_routing::learn_route(mavlink_channel_t in_channel, const mavlink_message_t* msg)
|
||||
void MAVLink_routing::learn_route(mavlink_channel_t in_channel, const mavlink_message_t &msg)
|
||||
{
|
||||
uint8_t i;
|
||||
if (msg->sysid == 0 ||
|
||||
(msg->sysid == mavlink_system.sysid &&
|
||||
msg->compid == mavlink_system.compid)) {
|
||||
if (msg.sysid == 0 ||
|
||||
(msg.sysid == mavlink_system.sysid &&
|
||||
msg.compid == mavlink_system.compid)) {
|
||||
return;
|
||||
}
|
||||
for (i=0; i<num_routes; i++) {
|
||||
if (routes[i].sysid == msg->sysid &&
|
||||
routes[i].compid == msg->compid &&
|
||||
if (routes[i].sysid == msg.sysid &&
|
||||
routes[i].compid == msg.compid &&
|
||||
routes[i].channel == in_channel) {
|
||||
if (routes[i].mavtype == 0 && msg->msgid == MAVLINK_MSG_ID_HEARTBEAT) {
|
||||
routes[i].mavtype = mavlink_msg_heartbeat_get_type(msg);
|
||||
if (routes[i].mavtype == 0 && msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
|
||||
routes[i].mavtype = mavlink_msg_heartbeat_get_type(&msg);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (i == num_routes && i<MAVLINK_MAX_ROUTES) {
|
||||
routes[i].sysid = msg->sysid;
|
||||
routes[i].compid = msg->compid;
|
||||
routes[i].sysid = msg.sysid;
|
||||
routes[i].compid = msg.compid;
|
||||
routes[i].channel = in_channel;
|
||||
if (msg->msgid == MAVLINK_MSG_ID_HEARTBEAT) {
|
||||
routes[i].mavtype = mavlink_msg_heartbeat_get_type(msg);
|
||||
if (msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
|
||||
routes[i].mavtype = mavlink_msg_heartbeat_get_type(&msg);
|
||||
}
|
||||
num_routes++;
|
||||
#if ROUTING_DEBUG
|
||||
::printf("learned route %u %u via %u\n",
|
||||
(unsigned)msg->sysid,
|
||||
(unsigned)msg->compid,
|
||||
(unsigned)msg.sysid,
|
||||
(unsigned)msg.compid,
|
||||
(unsigned)in_channel);
|
||||
#endif
|
||||
}
|
||||
|
|
@ -272,7 +272,7 @@ void MAVLink_routing::learn_route(mavlink_channel_t in_channel, const mavlink_me
|
|||
propagation heartbeat messages need to be forwarded on all channels
|
||||
except channels where the sysid/compid of the heartbeat could come from
|
||||
*/
|
||||
void MAVLink_routing::handle_heartbeat(mavlink_channel_t in_channel, const mavlink_message_t* msg)
|
||||
void MAVLink_routing::handle_heartbeat(mavlink_channel_t in_channel, const mavlink_message_t &msg)
|
||||
{
|
||||
uint16_t mask = GCS_MAVLINK::active_channel_mask();
|
||||
|
||||
|
|
@ -285,7 +285,7 @@ void MAVLink_routing::handle_heartbeat(mavlink_channel_t in_channel, const mavli
|
|||
|
||||
// mask out channels that are known sources for this sysid/compid
|
||||
for (uint8_t i=0; i<num_routes; i++) {
|
||||
if (routes[i].sysid == msg->sysid && routes[i].compid == msg->compid) {
|
||||
if (routes[i].sysid == msg.sysid && routes[i].compid == msg.compid) {
|
||||
mask &= ~(1U<<((unsigned)(routes[i].channel-MAVLINK_COMM_0)));
|
||||
}
|
||||
}
|
||||
|
|
@ -299,16 +299,16 @@ void MAVLink_routing::handle_heartbeat(mavlink_channel_t in_channel, const mavli
|
|||
for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
|
||||
if (mask & (1U<<i)) {
|
||||
mavlink_channel_t channel = (mavlink_channel_t)(MAVLINK_COMM_0 + i);
|
||||
if (comm_get_txspace(channel) >= ((uint16_t)msg->len) +
|
||||
if (comm_get_txspace(channel) >= ((uint16_t)msg.len) +
|
||||
GCS_MAVLINK::packet_overhead_chan(channel)) {
|
||||
#if ROUTING_DEBUG
|
||||
::printf("fwd HB from chan %u on chan %u from sysid=%u compid=%u\n",
|
||||
(unsigned)in_channel,
|
||||
(unsigned)channel,
|
||||
(unsigned)msg->sysid,
|
||||
(unsigned)msg->compid);
|
||||
(unsigned)msg.sysid,
|
||||
(unsigned)msg.compid);
|
||||
#endif
|
||||
_mavlink_resend_uart(channel, msg);
|
||||
_mavlink_resend_uart(channel, &msg);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -320,17 +320,17 @@ void MAVLink_routing::handle_heartbeat(mavlink_channel_t in_channel, const mavli
|
|||
that the caller can set them to -1 and know when a sysid or compid
|
||||
target is found in the message
|
||||
*/
|
||||
void MAVLink_routing::get_targets(const mavlink_message_t* msg, int16_t &sysid, int16_t &compid)
|
||||
void MAVLink_routing::get_targets(const mavlink_message_t &msg, int16_t &sysid, int16_t &compid)
|
||||
{
|
||||
const mavlink_msg_entry_t *msg_entry = mavlink_get_msg_entry(msg->msgid);
|
||||
const mavlink_msg_entry_t *msg_entry = mavlink_get_msg_entry(msg.msgid);
|
||||
if (msg_entry == nullptr) {
|
||||
return;
|
||||
}
|
||||
if (msg_entry->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM) {
|
||||
sysid = _MAV_RETURN_uint8_t(msg, msg_entry->target_system_ofs);
|
||||
sysid = _MAV_RETURN_uint8_t(&msg, msg_entry->target_system_ofs);
|
||||
}
|
||||
if (msg_entry->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT) {
|
||||
compid = _MAV_RETURN_uint8_t(msg, msg_entry->target_component_ofs);
|
||||
compid = _MAV_RETURN_uint8_t(&msg, msg_entry->target_component_ofs);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -27,13 +27,13 @@ public:
|
|||
|
||||
This returns true if the message should be processed locally
|
||||
*/
|
||||
bool check_and_forward(mavlink_channel_t in_channel, const mavlink_message_t* msg);
|
||||
bool check_and_forward(mavlink_channel_t in_channel, const mavlink_message_t &msg);
|
||||
|
||||
/*
|
||||
send a MAVLink message to all components with this vehicle's system id
|
||||
This is a no-op if no routes to components have been learned
|
||||
*/
|
||||
void send_to_components(const mavlink_message_t* msg);
|
||||
void send_to_components(const mavlink_message_t &msg);
|
||||
|
||||
/*
|
||||
search for the first vehicle or component in the routing table with given mav_type and retrieve it's sysid, compid and channel
|
||||
|
|
@ -56,11 +56,11 @@ private:
|
|||
uint8_t no_route_mask;
|
||||
|
||||
// learn new routes
|
||||
void learn_route(mavlink_channel_t in_channel, const mavlink_message_t* msg);
|
||||
void learn_route(mavlink_channel_t in_channel, const mavlink_message_t &msg);
|
||||
|
||||
// extract target sysid and compid from a message
|
||||
void get_targets(const mavlink_message_t* msg, int16_t &sysid, int16_t &compid);
|
||||
void get_targets(const mavlink_message_t &msg, int16_t &sysid, int16_t &compid);
|
||||
|
||||
// special handling for heartbeat messages
|
||||
void handle_heartbeat(mavlink_channel_t in_channel, const mavlink_message_t* msg);
|
||||
void handle_heartbeat(mavlink_channel_t in_channel, const mavlink_message_t &msg);
|
||||
};
|
||||
|
|
|
|||
|
|
@ -39,7 +39,7 @@ void loop(void)
|
|||
|
||||
mavlink_msg_heartbeat_encode(3, 1, &msg, &heartbeat);
|
||||
|
||||
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
|
||||
if (!routing.check_and_forward(MAVLINK_COMM_0, msg)) {
|
||||
hal.console->printf("heartbeat should be processed locally\n");
|
||||
err_count++;
|
||||
}
|
||||
|
|
@ -47,7 +47,7 @@ void loop(void)
|
|||
// incoming non-targetted message
|
||||
mavlink_attitude_t attitude = {0};
|
||||
mavlink_msg_attitude_encode(3, 1, &msg, &attitude);
|
||||
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
|
||||
if (!routing.check_and_forward(MAVLINK_COMM_0, msg)) {
|
||||
hal.console->printf("attitude should be processed locally\n");
|
||||
err_count++;
|
||||
}
|
||||
|
|
@ -57,7 +57,7 @@ void loop(void)
|
|||
param_set.target_system = mavlink_system.sysid+1;
|
||||
param_set.target_component = mavlink_system.compid;
|
||||
mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
|
||||
if (routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
|
||||
if (routing.check_and_forward(MAVLINK_COMM_0, msg)) {
|
||||
hal.console->printf("param set 1 should not be processed locally\n");
|
||||
err_count++;
|
||||
}
|
||||
|
|
@ -66,7 +66,7 @@ void loop(void)
|
|||
param_set.target_system = mavlink_system.sysid;
|
||||
param_set.target_component = mavlink_system.compid;
|
||||
mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
|
||||
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
|
||||
if (!routing.check_and_forward(MAVLINK_COMM_0, msg)) {
|
||||
hal.console->printf("param set 2 should be processed locally\n");
|
||||
err_count++;
|
||||
}
|
||||
|
|
@ -76,7 +76,7 @@ void loop(void)
|
|||
param_set.target_system = mavlink_system.sysid;
|
||||
param_set.target_component = mavlink_system.compid+1;
|
||||
mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
|
||||
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
|
||||
if (!routing.check_and_forward(MAVLINK_COMM_0, msg)) {
|
||||
hal.console->printf("param set 3 should be processed locally\n");
|
||||
err_count++;
|
||||
}
|
||||
|
|
@ -85,7 +85,7 @@ void loop(void)
|
|||
param_set.target_system = 0;
|
||||
param_set.target_component = mavlink_system.compid+1;
|
||||
mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
|
||||
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
|
||||
if (!routing.check_and_forward(MAVLINK_COMM_0, msg)) {
|
||||
hal.console->printf("param set 4 should be processed locally\n");
|
||||
err_count++;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue