From b6810006eb8afa45e4dde9c0705d89100a7a4783 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Tue, 16 Aug 2016 16:18:58 -0700
Subject: [PATCH] AP_ADSB: move mavlink msg handling into library

---
 libraries/AP_ADSB/AP_ADSB.cpp | 23 +++++++++++++++++++++--
 libraries/AP_ADSB/AP_ADSB.h   | 14 ++++++++------
 2 files changed, 29 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_ADSB/AP_ADSB.cpp b/libraries/AP_ADSB/AP_ADSB.cpp
index c29a7689ae..feffd56a90 100644
--- a/libraries/AP_ADSB/AP_ADSB.cpp
+++ b/libraries/AP_ADSB/AP_ADSB.cpp
@@ -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;
+    }
+
+}
diff --git a/libraries/AP_ADSB/AP_ADSB.h b/libraries/AP_ADSB/AP_ADSB.h
index fd68a6142e..fbf73b1742 100644
--- a/libraries/AP_ADSB/AP_ADSB.h
+++ b/libraries/AP_ADSB/AP_ADSB.h
@@ -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