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AP_ADSB: move mavlink msg handling into library

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This commit is contained in:
Tom Pittenger 2016-08-16 16:18:58 -07:00
parent d04a5d58fd
commit b6810006eb
2 changed files with 29 additions and 8 deletions
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23
libraries/AP_ADSB/AP_ADSB.cpp
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@ -325,7 +325,7 @@ bool AP_ADSB::find_index(const adsb_vehicle_t &vehicle, uint16_t *index) const
* Update the vehicle list. If the vehicle is already in the
* list then it will update it, otherwise it will be added.
*/
void AP_ADSB::update_vehicle(const mavlink_message_t* packet)
void AP_ADSB::handle_vehicle(const mavlink_message_t* packet)
{
if (in_state.vehicle_list == nullptr) {
// We are only null when disabled. Updating is inhibited.
@ -559,7 +559,7 @@ void AP_ADSB::send_configure(const mavlink_channel_t chan)
* we determine which channel is on so we don't have to send out_state to all channels
*/
void AP_ADSB::transceiver_report(const mavlink_channel_t chan, const mavlink_message_t* msg)
void AP_ADSB::handle_transceiver_report(const mavlink_channel_t chan, const mavlink_message_t* msg)
{
mavlink_uavionix_adsb_transceiver_health_report_t packet {};
mavlink_msg_uavionix_adsb_transceiver_health_report_decode(msg, &packet);
@ -658,3 +658,22 @@ bool AP_ADSB::next_sample(adsb_vehicle_t &vehicle)
{
return samples.pop_front(vehicle);
}
void AP_ADSB::handle_message(const mavlink_channel_t chan, const mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_ADSB_VEHICLE:
handle_vehicle(msg);
break;
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
handle_transceiver_report(chan, msg);
break;
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
// unhandled, these are outbound packets only
default:
break;
}
}

14
libraries/AP_ADSB/AP_ADSB.h
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@ -52,12 +52,6 @@ public:
// periodic task that maintains vehicle_list
void update(void);
// add or update vehicle_list from inbound mavlink msg
void update_vehicle(const mavlink_message_t* msg);
// handle ADS-B transceiver report
void transceiver_report(mavlink_channel_t chan, const mavlink_message_t* msg);
uint16_t get_vehicle_count() { return in_state.vehicle_count; }
// send ADSB_VEHICLE mavlink message, usually as a StreamRate
@ -78,6 +72,9 @@ public:
}
bool next_sample(adsb_vehicle_t &obstacle);
// mavlink message handler
void handle_message(const mavlink_channel_t chan, const mavlink_message_t* msg);
private:
// initialize _vehicle_list
@ -107,6 +104,11 @@ private:
void send_configure(const mavlink_channel_t chan);
void send_dynamic_out(const mavlink_channel_t chan);
// add or update vehicle_list from inbound mavlink msg
void handle_vehicle(const mavlink_message_t* msg);
// handle ADS-B transceiver report for ping2020
void handle_transceiver_report(mavlink_channel_t chan, const mavlink_message_t* msg);
// reference to AHRS, so we can ask for our position,
// heading and speed