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AC_Fence: pass mavlink_message_t by const reference

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Pierre Kancir 2019-04-30 12:22:47 +02:00 committed by Peter Barker
parent 1f9adf1f3b
commit bf74cb4e99
2 changed files with 6 additions and 11 deletions
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15
libraries/AC_Fence/AC_Fence.cpp
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@ -485,18 +485,13 @@ bool AC_Fence::boundary_breached(const Vector2f& location, uint16_t num_points,
} }
/// handler for polygon fence messages with GCS /// handler for polygon fence messages with GCS
void AC_Fence::handle_msg(GCS_MAVLINK &link, mavlink_message_t* msg) void AC_Fence::handle_msg(GCS_MAVLINK &link, const mavlink_message_t &msg)
{ {
// exit immediately if null message switch (msg.msgid) {
if (msg == nullptr) {
return;
}
switch (msg->msgid) {
// receive a fence point from GCS and store in EEPROM // receive a fence point from GCS and store in EEPROM
case MAVLINK_MSG_ID_FENCE_POINT: { case MAVLINK_MSG_ID_FENCE_POINT: {
mavlink_fence_point_t packet; mavlink_fence_point_t packet;
mavlink_msg_fence_point_decode(msg, &packet); mavlink_msg_fence_point_decode(&msg, &packet);
if (!check_latlng(packet.lat,packet.lng)) { if (!check_latlng(packet.lat,packet.lng)) {
link.send_text(MAV_SEVERITY_WARNING, "Invalid fence point, lat or lng too large"); link.send_text(MAV_SEVERITY_WARNING, "Invalid fence point, lat or lng too large");
} else { } else {
@ -516,11 +511,11 @@ void AC_Fence::handle_msg(GCS_MAVLINK &link, mavlink_message_t* msg)
// send a fence point to GCS // send a fence point to GCS
case MAVLINK_MSG_ID_FENCE_FETCH_POINT: { case MAVLINK_MSG_ID_FENCE_FETCH_POINT: {
mavlink_fence_fetch_point_t packet; mavlink_fence_fetch_point_t packet;
mavlink_msg_fence_fetch_point_decode(msg, &packet); mavlink_msg_fence_fetch_point_decode(&msg, &packet);
// attempt to retrieve from eeprom // attempt to retrieve from eeprom
Vector2l point; Vector2l point;
if (_poly_loader.load_point_from_eeprom(packet.idx, point)) { if (_poly_loader.load_point_from_eeprom(packet.idx, point)) {
mavlink_msg_fence_point_send(link.get_chan(), msg->sysid, msg->compid, packet.idx, _total, point.x*1.0e-7f, point.y*1.0e-7f); mavlink_msg_fence_point_send(link.get_chan(), msg.sysid, msg.compid, packet.idx, _total, point.x*1.0e-7f, point.y*1.0e-7f);
} else { } else {
link.send_text(MAV_SEVERITY_WARNING, "Bad fence point"); link.send_text(MAV_SEVERITY_WARNING, "Bad fence point");
} }

2
libraries/AC_Fence/AC_Fence.h
View File

@ -110,7 +110,7 @@ public:
bool boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points) const; bool boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points) const;
/// handler for polygon fence messages with GCS /// handler for polygon fence messages with GCS
void handle_msg(GCS_MAVLINK &link, mavlink_message_t* msg); void handle_msg(GCS_MAVLINK &link, const mavlink_message_t &msg);
/// return system time of last update to the boundary (allows external detection of boundary changes) /// return system time of last update to the boundary (allows external detection of boundary changes)
uint32_t get_boundary_update_ms() const { return _boundary_update_ms; } uint32_t get_boundary_update_ms() const { return _boundary_update_ms; }