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GCS_MAVLink: save some bytes by removing empty methods based on #ifs

This commit is contained in:
Peter Barker 2022-07-16 08:16:27 +10:00 committed by Peter Barker
parent 82337c9058
commit cbd591f2ba
2 changed files with 75 additions and 31 deletions
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3
libraries/GCS_MAVLink/GCS.h
View File

@ -24,6 +24,7 @@
#include <AP_Filesystem/AP_Filesystem_Available.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_Mount/AP_Mount.h>
#include "ap_message.h"
@ -475,7 +476,9 @@ protected:
void handle_common_rally_message(const mavlink_message_t &msg);
void handle_rally_fetch_point(const mavlink_message_t &msg);
void handle_rally_point(const mavlink_message_t &msg) const;
#if HAL_MOUNT_ENABLED
virtual void handle_mount_message(const mavlink_message_t &msg);
#endif
void handle_fence_message(const mavlink_message_t &msg);
void handle_param_value(const mavlink_message_t &msg);
void handle_radio_status(const mavlink_message_t &msg, bool log_radio);

103
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -451,7 +451,9 @@ void GCS_MAVLINK::send_distance_sensor()
}
}
#if HAL_PROXIMITY_ENABLED
send_proximity();
#endif
}
void GCS_MAVLINK::send_rangefinder() const
@ -470,9 +472,9 @@ void GCS_MAVLINK::send_rangefinder() const
s->voltage_mv() * 0.001f);
}
#if HAL_PROXIMITY_ENABLED
void GCS_MAVLINK::send_proximity()
{
#if HAL_PROXIMITY_ENABLED
AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity == nullptr) {
return; // this is wrong, but pretend we sent data and don't requeue
@ -530,8 +532,8 @@ void GCS_MAVLINK::send_proximity()
0, // Measurement covariance in centimeters, 0 for unknown / invalid readings
0, 0, nullptr, 0);
}
#endif // HAL_PROXIMITY_ENABLED
}
#endif // HAL_PROXIMITY_ENABLED
// report AHRS2 state
void GCS_MAVLINK::send_ahrs2()
@ -715,20 +717,21 @@ void GCS_MAVLINK::handle_mission_write_partial_list(const mavlink_message_t &msg
use_prot->handle_mission_write_partial_list(*this, msg, packet);
}
#if HAL_MOUNT_ENABLED
/*
pass mavlink messages to the AP_Mount singleton
*/
void GCS_MAVLINK::handle_mount_message(const mavlink_message_t &msg)
{
#if HAL_MOUNT_ENABLED
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return;
}
mount->handle_message(chan, msg);
#endif
}
#endif
/*
pass parameter value messages through to mount library
*/
@ -897,7 +900,9 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, MSG_ORIGIN},
{ MAVLINK_MSG_ID_SYS_STATUS, MSG_SYS_STATUS},
{ MAVLINK_MSG_ID_POWER_STATUS, MSG_POWER_STATUS},
#if HAL_WITH_MCU_MONITORING
{ MAVLINK_MSG_ID_MCU_STATUS, MSG_MCU_STATUS},
#endif
{ MAVLINK_MSG_ID_MEMINFO, MSG_MEMINFO},
{ MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, MSG_NAV_CONTROLLER_OUTPUT},
{ MAVLINK_MSG_ID_MISSION_CURRENT, MSG_CURRENT_WAYPOINT},
@ -914,15 +919,19 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_SCALED_PRESSURE3, MSG_SCALED_PRESSURE3},
{ MAVLINK_MSG_ID_GPS_RAW_INT, MSG_GPS_RAW},
{ MAVLINK_MSG_ID_GPS_RTK, MSG_GPS_RTK},
#if GPS_MAX_RECEIVERS > 1
{ MAVLINK_MSG_ID_GPS2_RAW, MSG_GPS2_RAW},
{ MAVLINK_MSG_ID_GPS2_RTK, MSG_GPS2_RTK},
#endif
{ MAVLINK_MSG_ID_SYSTEM_TIME, MSG_SYSTEM_TIME},
{ MAVLINK_MSG_ID_RC_CHANNELS_SCALED, MSG_SERVO_OUT},
{ MAVLINK_MSG_ID_PARAM_VALUE, MSG_NEXT_PARAM},
{ MAVLINK_MSG_ID_FENCE_STATUS, MSG_FENCE_STATUS},
{ MAVLINK_MSG_ID_AHRS, MSG_AHRS},
#if AP_SIM_ENABLED
{ MAVLINK_MSG_ID_SIMSTATE, MSG_SIMSTATE},
{ MAVLINK_MSG_ID_SIM_STATE, MSG_SIM_STATE},
#endif
{ MAVLINK_MSG_ID_AHRS2, MSG_AHRS2},
{ MAVLINK_MSG_ID_HWSTATUS, MSG_HWSTATUS},
{ MAVLINK_MSG_ID_WIND, MSG_WIND},
@ -932,8 +941,13 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_TERRAIN_REQUEST, MSG_TERRAIN},
{ MAVLINK_MSG_ID_BATTERY2, MSG_BATTERY2},
{ MAVLINK_MSG_ID_CAMERA_FEEDBACK, MSG_CAMERA_FEEDBACK},
#if HAL_MOUNT_ENABLED
{ MAVLINK_MSG_ID_MOUNT_STATUS, MSG_MOUNT_STATUS},
{ MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE},
#endif
#if AP_OPTICALFLOW_ENABLED
{ MAVLINK_MSG_ID_OPTICAL_FLOW, MSG_OPTICAL_FLOW},
#endif
{ MAVLINK_MSG_ID_MAG_CAL_PROGRESS, MSG_MAG_CAL_PROGRESS},
{ MAVLINK_MSG_ID_MAG_CAL_REPORT, MSG_MAG_CAL_REPORT},
{ MAVLINK_MSG_ID_EKF_STATUS_REPORT, MSG_EKF_STATUS_REPORT},
@ -951,15 +965,28 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_DEEPSTALL, MSG_LANDING},
{ MAVLINK_MSG_ID_EXTENDED_SYS_STATE, MSG_EXTENDED_SYS_STATE},
{ MAVLINK_MSG_ID_AUTOPILOT_VERSION, MSG_AUTOPILOT_VERSION},
#if HAL_EFI_ENABLED
{ MAVLINK_MSG_ID_EFI_STATUS, MSG_EFI_STATUS},
#endif
#if HAL_GENERATOR_ENABLED
{ MAVLINK_MSG_ID_GENERATOR_STATUS, MSG_GENERATOR_STATUS},
#endif
{ MAVLINK_MSG_ID_WINCH_STATUS, MSG_WINCH_STATUS},
#if HAL_WITH_ESC_TELEM
{ MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4, MSG_ESC_TELEMETRY},
#endif
#if APM_BUILD_TYPE(APM_BUILD_Rover)
{ MAVLINK_MSG_ID_WATER_DEPTH, MSG_WATER_DEPTH},
#endif
#if HAL_HIGH_LATENCY2_ENABLED
{ MAVLINK_MSG_ID_HIGH_LATENCY2, MSG_HIGH_LATENCY2},
#endif
#if AP_AIS_ENABLED
{ MAVLINK_MSG_ID_AIS_VESSEL, MSG_AIS_VESSEL},
#endif
#if HAL_ADSB_ENABLED
{ MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_STATUS, MSG_UAVIONIX_ADSB_OUT_STATUS},
{ MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE},
#endif
};
for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
@ -1494,8 +1521,10 @@ void GCS_MAVLINK::packetReceived(const mavlink_status_t &status,
return;
}
if (msg.msgid == MAVLINK_MSG_ID_GLOBAL_POSITION_INT) {
#if HAL_MOUNT_ENABLED
// allow mounts to see the location of other vehicles
handle_mount_message(msg);
#endif
}
if (!accept_packet(status, msg)) {
// e.g. enforce-sysid says we shouldn't look at this packet
@ -3674,11 +3703,15 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
handle_fence_message(msg);
break;
#if HAL_MOUNT_ENABLED
case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
case MAVLINK_MSG_ID_MOUNT_CONTROL: // deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
case MAVLINK_MSG_ID_GIMBAL_REPORT:
case MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION:
case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS:
handle_mount_message(msg);
break;
#endif
case MAVLINK_MSG_ID_PARAM_VALUE:
handle_param_value(msg);
@ -3704,22 +3737,17 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
AP_Notify::handle_led_control(msg);
break;
case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
case MAVLINK_MSG_ID_MOUNT_CONTROL: // deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
handle_mount_message(msg);
break;
case MAVLINK_MSG_ID_PLAY_TUNE:
// send message to Notify
AP_Notify::handle_play_tune(msg);
break;
#if HAL_RALLY_ENABLED
case MAVLINK_MSG_ID_RALLY_POINT:
case MAVLINK_MSG_ID_RALLY_FETCH_POINT:
#if HAL_RALLY_ENABLED
handle_common_rally_message(msg);
#endif
break;
#endif
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
// only pass if override is not selected
@ -3925,27 +3953,25 @@ void GCS_MAVLINK::send_banner()
}
#if AP_SIM_ENABLED
void GCS_MAVLINK::send_simstate() const
{
#if AP_SIM_ENABLED
SITL::SIM *sitl = AP::sitl();
if (sitl == nullptr) {
return;
}
sitl->simstate_send(get_chan());
#endif
}
void GCS_MAVLINK::send_sim_state() const
{
#if AP_SIM_ENABLED
SITL::SIM *sitl = AP::sitl();
if (sitl == nullptr) {
return;
}
sitl->sim_state_send(get_chan());
#endif
}
#endif
MAV_RESULT GCS_MAVLINK::handle_command_flash_bootloader(const mavlink_command_long_t &packet)
{
@ -5086,16 +5112,16 @@ void GCS_MAVLINK::send_global_position_int()
ahrs.yaw_sensor); // compass heading in 1/100 degree
}
#if HAL_MOUNT_ENABLED
void GCS_MAVLINK::send_mount_status() const
{
#if HAL_MOUNT_ENABLED
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return;
}
mount->send_mount_status(chan);
#endif
}
#endif
void GCS_MAVLINK::send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc)
{
@ -5125,20 +5151,20 @@ void GCS_MAVLINK::send_set_position_target_global_int(uint8_t target_system, uin
0,0); // yaw, yaw_rate
}
#if HAL_GENERATOR_ENABLED
void GCS_MAVLINK::send_generator_status() const
{
#if HAL_GENERATOR_ENABLED
AP_Generator *generator = AP::generator();
if (generator == nullptr) {
return;
}
generator->send_generator_status(*this);
#endif
}
#endif
#if APM_BUILD_TYPE(APM_BUILD_Rover)
void GCS_MAVLINK::send_water_depth() const
{
#if APM_BUILD_TYPE(APM_BUILD_Rover)
if (!HAVE_PAYLOAD_SPACE(chan, WATER_DEPTH)) {
return;
}
@ -5184,18 +5210,18 @@ void GCS_MAVLINK::send_water_depth() const
temp_C); // temperature in degC
}
#endif
}
#endif
#if HAL_ADSB_ENABLED
void GCS_MAVLINK::send_uavionix_adsb_out_status() const
{
#if HAL_ADSB_ENABLED
AP_ADSB *adsb = AP::ADSB();
if (adsb != nullptr) {
adsb->send_adsb_out_status(chan);
}
#endif
}
#endif
void GCS_MAVLINK::send_autopilot_state_for_gimbal_device() const
{
@ -5393,18 +5419,27 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
#endif
break;
case MSG_GPS2_RTK:
#if GPS_MAX_RECEIVERS > 1
CHECK_PAYLOAD_SIZE(GPS2_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 1);
#endif
break;
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
send_local_position();
break;
case MSG_MOUNT_STATUS:
#if HAL_MOUNT_ENABLED
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
send_mount_status();
#endif
break;
case MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE:
#if HAL_MOUNT_ENABLED
CHECK_PAYLOAD_SIZE(AUTOPILOT_STATE_FOR_GIMBAL_DEVICE);
send_autopilot_state_for_gimbal_device();
#endif
break;
case MSG_OPTICAL_FLOW:
@ -5440,7 +5475,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_mcu_status();
#endif
break;
case MSG_RC_CHANNELS:
CHECK_PAYLOAD_SIZE(RC_CHANNELS);
send_rc_channels();
@ -5492,13 +5527,17 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
case MSG_SIMSTATE:
#if AP_SIM_ENABLED
CHECK_PAYLOAD_SIZE(SIMSTATE);
send_simstate();
#endif
break;
case MSG_SIM_STATE:
#if AP_SIM_ENABLED
CHECK_PAYLOAD_SIZE(SIM_STATE);
send_sim_state();
#endif
break;
case MSG_SYS_STATUS:
@ -5542,8 +5581,10 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
case MSG_GENERATOR_STATUS:
#if HAL_GENERATOR_ENABLED
CHECK_PAYLOAD_SIZE(GENERATOR_STATUS);
send_generator_status();
#endif
break;
case MSG_AUTOPILOT_VERSION:
@ -5574,9 +5615,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
case MSG_WATER_DEPTH:
#if APM_BUILD_TYPE(APM_BUILD_Rover)
CHECK_PAYLOAD_SIZE(WATER_DEPTH);
send_water_depth();
#endif
break;
case MSG_HIGH_LATENCY2:
#if HAL_HIGH_LATENCY2_ENABLED
CHECK_PAYLOAD_SIZE(HIGH_LATENCY2);
@ -5596,13 +5640,10 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
case MSG_UAVIONIX_ADSB_OUT_STATUS:
#if HAL_ADSB_ENABLED
CHECK_PAYLOAD_SIZE(UAVIONIX_ADSB_OUT_STATUS);
send_uavionix_adsb_out_status();
break;
case MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE:
CHECK_PAYLOAD_SIZE(AUTOPILOT_STATE_FOR_GIMBAL_DEVICE);
send_autopilot_state_for_gimbal_device();
#endif
break;
default: