Tracker: stop using mavlink_snoop for target traffic

... rather, override packetReceived which sees all packets seen

AntennaTracker/GCS_Mavlink.cpp

@@ -371,14 +371,15 @@ GCS_MAVLINK_Tracker::data_stream_send(void)
   We eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and
   MAVLINK_MSG_ID_SCALED_PRESSUREs
 */
-void Tracker::mavlink_snoop(const mavlink_message_t* msg)
+void GCS_MAVLINK_Tracker::packetReceived(const mavlink_status_t &status,
+                                         mavlink_message_t &msg)
 {
     // return immediately if sysid doesn't match our target sysid
-    if ((g.sysid_target != 0) && (g.sysid_target != msg->sysid)) {
+    if ((tracker.g.sysid_target != 0) && (tracker.g.sysid_target != msg.sysid)) {
         return;
     }
 
-    switch (msg->msgid) {
+    switch (msg.msgid) {
     case MAVLINK_MSG_ID_HEARTBEAT:
     {
         mavlink_check_target(msg);
@@ -389,8 +390,8 @@ void Tracker::mavlink_snoop(const mavlink_message_t* msg)
     {
         // decode
         mavlink_global_position_int_t packet;
-        mavlink_msg_global_position_int_decode(msg, &packet);
-        tracking_update_position(packet);
+        mavlink_msg_global_position_int_decode(&msg, &packet);
+        tracker.tracking_update_position(packet);
         break;
     }
     
@@ -398,24 +399,25 @@ void Tracker::mavlink_snoop(const mavlink_message_t* msg)
     {
         // decode
         mavlink_scaled_pressure_t packet;
-        mavlink_msg_scaled_pressure_decode(msg, &packet);
-        tracking_update_pressure(packet);
+        mavlink_msg_scaled_pressure_decode(&msg, &packet);
+        tracker.tracking_update_pressure(packet);
         break;
     }
     }
+    GCS_MAVLINK::packetReceived(status, msg);
 }
 
 // locks onto a particular target sysid and sets it's position data stream to at least 1hz
-void Tracker::mavlink_check_target(const mavlink_message_t* msg)
+void GCS_MAVLINK_Tracker::mavlink_check_target(const mavlink_message_t &msg)
 {
     // exit immediately if the target has already been set
-    if (target_set) {
+    if (tracker.target_set) {
         return;
     }
 
     // decode
     mavlink_heartbeat_t packet;
-    mavlink_msg_heartbeat_decode(msg, &packet);
+    mavlink_msg_heartbeat_decode(&msg, &packet);
 
     // exit immediately if this is not a vehicle we would track
     if ((packet.type == MAV_TYPE_ANTENNA_TRACKER) ||
@@ -426,17 +428,17 @@ void Tracker::mavlink_check_target(const mavlink_message_t* msg)
     }
 
     // set our sysid to the target, this ensures we lock onto a single vehicle
-    if (g.sysid_target == 0) {
-        g.sysid_target = msg->sysid;
+    if (tracker.g.sysid_target == 0) {
+        tracker.g.sysid_target = msg.sysid;
     }
 
     // send data stream request to target on all channels
     //  Note: this doesn't check success for all sends meaning it's not guaranteed the vehicle's positions will be sent at 1hz
-    gcs().request_datastream_position(msg->sysid, msg->compid);
-    gcs().request_datastream_airpressure(msg->sysid, msg->compid);
+    tracker.gcs().request_datastream_position(msg.sysid, msg.compid);
+    tracker.gcs().request_datastream_airpressure(msg.sysid, msg.compid);
 
     // flag target has been set
-    target_set = true;
+    tracker.target_set = true;
 }
 
 uint8_t GCS_MAVLINK_Tracker::sysid_my_gcs() const

AntennaTracker/GCS_Mavlink.h

@@ -30,6 +30,8 @@ protected:
 
 private:
 
+    void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
+    void mavlink_check_target(const mavlink_message_t &msg);
     void handleMessage(mavlink_message_t * msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;

AntennaTracker/GCS_Tracker.cpp

@@ -1,20 +1,6 @@
 #include "GCS_Tracker.h"
 #include "Tracker.h"
 
-static void mavlink_snoop_static(const mavlink_message_t* msg)
-{
-    tracker.mavlink_snoop(msg);
-}
-
-void GCS_Tracker::setup_uarts(AP_SerialManager &serial_manager)
-{
-    GCS::setup_uarts(serial_manager);
-
-    for (uint8_t i = 1; i < num_gcs(); i++) {
-        gcs().chan(i).set_snoop(mavlink_snoop_static);
-    }
-}
-
 void GCS_Tracker::request_datastream_position(const uint8_t sysid, const uint8_t compid)
 {
     for (uint8_t i=0; i < num_gcs(); i++) {

AntennaTracker/GCS_Tracker.h

@@ -6,6 +6,7 @@
 class GCS_Tracker : public GCS
 {
     friend class Tracker; // for access to _chan in parameter declarations
+    friend class GCS_MAVLINK_Tracker;
 
 public:
 
@@ -16,8 +17,6 @@ public:
     GCS_MAVLINK_Tracker &chan(const uint8_t ofs) override { return _chan[ofs]; };
     const GCS_MAVLINK_Tracker &chan(const uint8_t ofs) const override { return _chan[ofs]; };
 
-    void setup_uarts(AP_SerialManager &serial_manager) override;
-
 private:
 
     void request_datastream_position(uint8_t sysid, uint8_t compid);

AntennaTracker/Tracker.h

@@ -208,7 +208,6 @@ private:
     void send_location(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);
     void send_simstate(mavlink_channel_t chan);
-    void mavlink_check_target(const mavlink_message_t* msg);
     void gcs_data_stream_send(void);
     void gcs_update(void);
     void gcs_retry_deferred(void);
@@ -268,7 +267,6 @@ private:
     void handle_battery_failsafe(const char* type_str, const int8_t action);
 
 public:
-    void mavlink_snoop(const mavlink_message_t* msg);
     void mavlink_delay_cb();
 };