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GCS_MAVLink: Remove some common wrappers, fix excessive FALLTHROUGH

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This commit is contained in:
Michael du Breuil 2018-05-31 20:05:12 -07:00 committed by Francisco Ferreira
parent 0fcf07fde7
commit b331ddd49b
2 changed files with 34 additions and 128 deletions
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4
libraries/GCS_MAVLink/GCS.h
View File

@ -297,11 +297,9 @@ protected:
void handle_param_request_read(mavlink_message_t *msg);
virtual bool params_ready() const { return true; }
void handle_common_gps_message(mavlink_message_t *msg);
void handle_common_rally_message(mavlink_message_t *msg);
void handle_rally_fetch_point(mavlink_message_t *msg);
void handle_rally_point(mavlink_message_t *msg);
void handle_common_camera_message(const mavlink_message_t *msg);
void handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg) const;
void handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio);
void handle_serial_control(const mavlink_message_t *msg);
@ -361,8 +359,6 @@ protected:
// message sending functions:
bool try_send_compass_message(enum ap_message id);
bool try_send_mission_message(enum ap_message id);
bool try_send_camera_message(enum ap_message id);
bool try_send_gps_message(enum ap_message id);
void send_hwstatus();
void handle_data_packet(mavlink_message_t *msg);

158
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1949,31 +1949,6 @@ void GCS_MAVLINK::handle_statustext(mavlink_message_t *msg)
}
void GCS_MAVLINK::handle_common_gps_message(mavlink_message_t *msg)
{
AP::gps().handle_msg(msg);
}
void GCS_MAVLINK::handle_common_camera_message(const mavlink_message_t *msg)
{
AP_Camera *camera = get_camera();
if (camera == nullptr) {
return;
}
switch (msg->msgid) {
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE: // MAV ID: 202
//deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
break;
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
//deprecated. Use MAV_CMD_DO_DIGICAM_CONTROL
camera->control_msg(msg);
break;
default:
break;
}
}
MAV_RESULT GCS_MAVLINK::handle_command_camera(const mavlink_command_long_t &packet)
{
AP_Camera *camera = get_camera();
@ -2239,9 +2214,7 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
FALLTHROUGH;
case MAVLINK_MSG_ID_PARAM_SET:
FALLTHROUGH;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
handle_common_param_message(msg);
break;
@ -2260,22 +2233,22 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
handle_timesync(msg);
break;
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
FALLTHROUGH;
case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
FALLTHROUGH;
case MAVLINK_MSG_ID_LOG_ERASE:
FALLTHROUGH;
case MAVLINK_MSG_ID_LOG_REQUEST_END:
FALLTHROUGH;
case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
DataFlash_Class::instance()->handle_mavlink_msg(*this, msg);
break;
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
FALLTHROUGH;
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
handle_common_camera_message(msg);
{
AP_Camera *camera = get_camera();
if (camera == nullptr) {
return;
}
camera->control_msg(msg);
}
break;
case MAVLINK_MSG_ID_SET_MODE:
@ -2287,23 +2260,14 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
FALLTHROUGH;
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
FALLTHROUGH;
case MAVLINK_MSG_ID_MISSION_COUNT:
FALLTHROUGH;
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
FALLTHROUGH;
case MAVLINK_MSG_ID_MISSION_ITEM:
FALLTHROUGH;
case MAVLINK_MSG_ID_MISSION_ITEM_INT:
FALLTHROUGH;
case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
FALLTHROUGH;
case MAVLINK_MSG_ID_MISSION_REQUEST:
FALLTHROUGH;
case MAVLINK_MSG_ID_MISSION_ACK:
FALLTHROUGH;
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
handle_common_mission_message(msg);
break;
@ -2313,13 +2277,10 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_GPS_RTCM_DATA:
FALLTHROUGH;
case MAVLINK_MSG_ID_GPS_INPUT:
FALLTHROUGH;
case MAVLINK_MSG_ID_HIL_GPS:
FALLTHROUGH;
case MAVLINK_MSG_ID_GPS_INJECT_DATA:
handle_common_gps_message(msg);
AP::gps().handle_msg(msg);
break;
case MAVLINK_MSG_ID_STATUSTEXT:
@ -2337,7 +2298,6 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_RALLY_POINT:
FALLTHROUGH;
case MAVLINK_MSG_ID_RALLY_FETCH_POINT:
handle_common_rally_message(msg);
break;
@ -2646,9 +2606,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_message(mavlink_command_long_t &pack
break;
case MAV_CMD_DO_DIGICAM_CONFIGURE:
FALLTHROUGH;
case MAV_CMD_DO_DIGICAM_CONTROL:
FALLTHROUGH;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
result = handle_command_camera(packet);
break;
@ -2680,11 +2638,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_message(mavlink_command_long_t &pack
break;
case MAV_CMD_DO_SET_SERVO:
FALLTHROUGH;
case MAV_CMD_DO_REPEAT_SERVO:
FALLTHROUGH;
case MAV_CMD_DO_SET_RELAY:
FALLTHROUGH;
case MAV_CMD_DO_REPEAT_RELAY:
result = handle_servorelay_message(packet);
break;
@ -2763,64 +2718,6 @@ void GCS_MAVLINK::send_hwstatus()
0);
}
bool GCS_MAVLINK::try_send_gps_message(const enum ap_message id)
{
bool ret = true;
switch(id) {
case MSG_SYSTEM_TIME:
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
send_system_time();
ret = true;
break;
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
AP::gps().send_mavlink_gps_raw(chan);
ret = true;
break;
case MSG_GPS_RTK:
CHECK_PAYLOAD_SIZE(GPS_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 0);
ret = true;
break;
case MSG_GPS2_RAW:
CHECK_PAYLOAD_SIZE(GPS2_RAW);
AP::gps().send_mavlink_gps2_raw(chan);
ret = true;
break;
case MSG_GPS2_RTK:
CHECK_PAYLOAD_SIZE(GPS2_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 1);
ret = true;
break;
default:
ret = true;
break;
}
return ret;
}
bool GCS_MAVLINK::try_send_camera_message(const enum ap_message id)
{
AP_Camera *camera = get_camera();
if (camera == nullptr) {
return true;
}
bool ret = true;
switch(id) {
case MSG_CAMERA_FEEDBACK:
CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
camera->send_feedback(chan);
ret = true;
break;
default:
ret = true;
break;
}
return ret;
}
void GCS_MAVLINK::send_attitude() const
{
const AP_AHRS &ahrs = AP::ahrs();
@ -2906,15 +2803,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
case MSG_CURRENT_WAYPOINT:
FALLTHROUGH;
case MSG_MISSION_ITEM_REACHED:
FALLTHROUGH;
case MSG_NEXT_WAYPOINT:
ret = try_send_mission_message(id);
break;
case MSG_MAG_CAL_PROGRESS:
FALLTHROUGH;
case MSG_MAG_CAL_REPORT:
ret = try_send_compass_message(id);
break;
@ -2949,19 +2843,35 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
case MSG_CAMERA_FEEDBACK:
ret = try_send_camera_message(id);
{
AP_Camera *camera = get_camera();
if (camera == nullptr) {
break;
}
CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
camera->send_feedback(chan);
}
break;
case MSG_GPS_RAW:
FALLTHROUGH;
case MSG_GPS_RTK:
FALLTHROUGH;
case MSG_GPS2_RAW:
FALLTHROUGH;
case MSG_GPS2_RTK:
FALLTHROUGH;
case MSG_SYSTEM_TIME:
ret = try_send_gps_message(id);
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
send_system_time();
break;
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
AP::gps().send_mavlink_gps_raw(chan);
break;
case MSG_GPS_RTK:
CHECK_PAYLOAD_SIZE(GPS_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 0);
break;
case MSG_GPS2_RAW:
CHECK_PAYLOAD_SIZE(GPS2_RAW);
AP::gps().send_mavlink_gps2_raw(chan);
break;
case MSG_GPS2_RTK:
CHECK_PAYLOAD_SIZE(GPS2_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 1);
break;
case MSG_LOCAL_POSITION: