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AP_ADSB: convert all function calls to use const and use Location_Class

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This commit is contained in:
Tom Pittenger 2016-07-12 13:22:28 -07:00
parent 4c9642ac08
commit cf77ff6d4f
2 changed files with 28 additions and 26 deletions
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32
libraries/AP_ADSB/AP_ADSB.cpp
View File

@ -293,13 +293,14 @@ void AP_ADSB::perform_threat_detection(void)
/*
* Convert/Extract a Location from a vehicle
*/
Location AP_ADSB::get_location(const adsb_vehicle_t &vehicle) const
Location_Class AP_ADSB::get_location(const adsb_vehicle_t &vehicle) const
{
Location loc {};
loc.alt = vehicle.info.altitude * 0.1f; // convert mm to cm.
loc.lat = vehicle.info.lat;
loc.lng = vehicle.info.lon;
loc.flags.relative_alt = false;
Location_Class loc = Location_Class(
vehicle.info.lat,
vehicle.info.lon,
vehicle.info.altitude * 0.1f,
Location_Class::ALT_FRAME_ABSOLUTE);
return loc;
}
@ -307,7 +308,7 @@ Location AP_ADSB::get_location(const adsb_vehicle_t &vehicle) const
* delete a vehicle by copying last vehicle to
* current index then decrementing count
*/
void AP_ADSB::delete_vehicle(uint16_t index)
void AP_ADSB::delete_vehicle(const uint16_t index)
{
if (index < in_state.vehicle_count) {
// if the vehicle is the lowest/highest threat, invalidate it
@ -357,9 +358,10 @@ void AP_ADSB::update_vehicle(const mavlink_message_t* packet)
uint16_t index;
adsb_vehicle_t vehicle {};
mavlink_msg_adsb_vehicle_decode(packet, &vehicle.info);
Location_Class vehicle_loc = Location_Class(AP_ADSB::get_location(vehicle));
if (!_my_loc.is_zero() &&
_my_loc.get_distance(AP_ADSB::get_location(vehicle)) > in_state.list_radius) {
_my_loc.get_distance(vehicle_loc) > in_state.list_radius) {
// vehicle is out of range. Ignore it.
return;
@ -407,7 +409,7 @@ void AP_ADSB::update_vehicle(const mavlink_message_t* packet)
/*
* Copy a vehicle's data into the list
*/
void AP_ADSB::set_vehicle(uint16_t index, const adsb_vehicle_t &vehicle)
void AP_ADSB::set_vehicle(const uint16_t index, const adsb_vehicle_t &vehicle)
{
if (index < in_state.list_size) {
in_state.vehicle_list[index] = vehicle;
@ -415,7 +417,7 @@ void AP_ADSB::set_vehicle(uint16_t index, const adsb_vehicle_t &vehicle)
}
}
void AP_ADSB::send_adsb_vehicle(mavlink_channel_t chan)
void AP_ADSB::send_adsb_vehicle(const mavlink_channel_t chan)
{
if (in_state.vehicle_list == nullptr || in_state.vehicle_count == 0) {
return;
@ -457,7 +459,7 @@ void AP_ADSB::send_adsb_vehicle(mavlink_channel_t chan)
}
void AP_ADSB::send_dynamic_out(mavlink_channel_t chan)
void AP_ADSB::send_dynamic_out(const mavlink_channel_t chan)
{
// --------------
// Knowns
@ -543,7 +545,7 @@ void AP_ADSB::send_dynamic_out(mavlink_channel_t chan)
squawk);
}
void AP_ADSB::send_configure(mavlink_channel_t chan)
void AP_ADSB::send_configure(const mavlink_channel_t chan)
{
mavlink_msg_adsb_transponder_static_input_send(
chan,
@ -561,7 +563,7 @@ void AP_ADSB::send_configure(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(mavlink_channel_t chan, const mavlink_message_t* msg)
void AP_ADSB::transceiver_report(const mavlink_channel_t chan, const mavlink_message_t* msg)
{
mavlink_adsb_transponder_dynamic_output_t packet {};
mavlink_msg_adsb_transponder_dynamic_output_decode(msg, &packet);
@ -585,7 +587,7 @@ void AP_ADSB::transceiver_report(mavlink_channel_t chan, const mavlink_message_t
Note gps.time is the number of seconds since UTC midnight
*/
uint32_t AP_ADSB::genICAO(const Location &loc)
uint32_t AP_ADSB::genICAO(const Location_Class &loc)
{
// gps_time is not seconds since UTC midnight, but it is an equivalent random number
// TODO: use UTC time instead of GPS time
@ -602,7 +604,7 @@ uint32_t AP_ADSB::genICAO(const Location &loc)
}
// assign a string to out_state.cfg.callsign but ensure it's null terminated
void AP_ADSB::set_callsign(const char* str, bool append_icao)
void AP_ADSB::set_callsign(const char* str, const bool append_icao)
{
bool zero_char_pad = false;

22
libraries/AP_ADSB/AP_ADSB.h
View File

@ -85,16 +85,16 @@ public:
ADSB_BEHAVIOR get_behavior() { return (ADSB_BEHAVIOR)(avoid_state.behavior.get()); }
bool get_is_evading_threat() { return _enabled && avoid_state.is_evading_threat; }
void set_is_evading_threat(bool is_evading) { if (_enabled) { avoid_state.is_evading_threat = is_evading; } }
void set_is_evading_threat(const bool is_evading) { if (_enabled) { avoid_state.is_evading_threat = is_evading; } }
uint16_t get_vehicle_count() { return in_state.vehicle_count; }
// send ADSB_VEHICLE mavlink message, usually as a StreamRate
void send_adsb_vehicle(mavlink_channel_t chan);
void set_stall_speed_cm(uint16_t stall_speed_cm) { out_state.cfg.stall_speed_cm = stall_speed_cm; }
void set_stall_speed_cm(const uint16_t stall_speed_cm) { out_state.cfg.stall_speed_cm = stall_speed_cm; }
void set_is_auto_mode(bool is_in_auto_mode) { _is_in_auto_mode = is_in_auto_mode; }
void set_is_flying(bool is_flying) { out_state.is_flying = is_flying; }
void set_is_auto_mode(const bool is_in_auto_mode) { _is_in_auto_mode = is_in_auto_mode; }
void set_is_flying(const bool is_flying) { out_state.is_flying = is_flying; }
private:
@ -108,25 +108,25 @@ private:
void perform_threat_detection(void);
// extract a location out of a vehicle item
Location get_location(const adsb_vehicle_t &vehicle) const;
Location_Class get_location(const adsb_vehicle_t &vehicle) const;
// return index of given vehicle if ICAO_ADDRESS matches. return -1 if no match
bool find_index(const adsb_vehicle_t &vehicle, uint16_t *index) const;
// remove a vehicle from the list
void delete_vehicle(uint16_t index);
void delete_vehicle(const uint16_t index);
void set_vehicle(uint16_t index, const adsb_vehicle_t &vehicle);
void set_vehicle(const uint16_t index, const adsb_vehicle_t &vehicle);
// Generates pseudorandom ICAO from gps time, lat, and lon
uint32_t genICAO(const Location &loc);
uint32_t genICAO(const Location_Class &loc);
// set callsign: 8char string (plus null termination) then optionally append last 4 digits of icao
void set_callsign(const char* str, bool append_icao);
void set_callsign(const char* str, const bool append_icao);
// send static and dynamic data to ADSB transceiver
void send_configure(mavlink_channel_t chan);
void send_dynamic_out(mavlink_channel_t chan);
void send_configure(const mavlink_channel_t chan);
void send_dynamic_out(const mavlink_channel_t chan);
// reference to AHRS, so we can ask for our position,