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AP_OSD: use internal enumeration in place of mavlink enumeration 

this will let us more-easily compile without the mavlink headers
This commit is contained in:
Peter Barker 2024-02-20 13:30:03 +11:00 committed by Peter Barker
parent 392aa8fd48
commit d5e4d191d5
3 changed files with 82 additions and 47 deletions
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17
libraries/AP_OSD/AP_OSD.h
View File

@ -329,6 +329,18 @@ class AP_OSD_ParamSetting
{ {
public: public:
enum class Type : uint8_t {
NONE = 0,
SERIAL_PROTOCOL = 1,
SERVO_FUNCTION = 2,
AUX_FUNCTION = 3,
FLIGHT_MODE = 4,
FAILSAFE_ACTION = 5,
FAILSAFE_ACTION_1 = 6,
FAILSAFE_ACTION_2 = 7,
NUM_TYPES = 8,
};
AP_Int8 enabled; AP_Int8 enabled;
AP_Int8 xpos; AP_Int8 xpos;
AP_Int8 ypos; AP_Int8 ypos;
@ -341,7 +353,7 @@ public:
AP_Float _param_min; AP_Float _param_min;
AP_Float _param_max; AP_Float _param_max;
AP_Float _param_incr; AP_Float _param_incr;
AP_Int8 _type; AP_Enum<Type> _type;
// parameter number // parameter number
uint8_t _param_number; uint8_t _param_number;
@ -357,11 +369,12 @@ public:
uint8_t values_max; uint8_t values_max;
const char** values; const char** values;
}; };
// compact structure used to hold default values for static initialization // compact structure used to hold default values for static initialization
struct Initializer { struct Initializer {
uint8_t index; uint8_t index;
AP_Param::ParamToken token; AP_Param::ParamToken token;
int8_t type; Type type;
}; };
static const ParamMetadata _param_metadata[]; static const ParamMetadata _param_metadata[];

78
libraries/AP_OSD/AP_OSD_ParamScreen.cpp
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@ -129,49 +129,49 @@ static const char* event_names[5] = {
static const AP_OSD_ParamSetting::Initializer PARAM_DEFAULTS[AP_OSD_NUM_PARAM_SCREENS][AP_OSD_ParamScreen::NUM_PARAMS] { static const AP_OSD_ParamSetting::Initializer PARAM_DEFAULTS[AP_OSD_NUM_PARAM_SCREENS][AP_OSD_ParamScreen::NUM_PARAMS] {
#if APM_BUILD_COPTER_OR_HELI #if APM_BUILD_COPTER_OR_HELI
{ {
{ 1, { 102, 0, 4033 }, OSD_PARAM_NONE }, // ATC_RAT_RLL_P { 1, { 102, 0, 4033 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_RLL_P
{ 2, { 102, 0, 129 }, OSD_PARAM_NONE }, // ATC_RAT_RLL_D { 2, { 102, 0, 129 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_RLL_D
{ 3, { 102, 0, 705 }, OSD_PARAM_NONE }, // ATC_RAT_RLL_FLTD { 3, { 102, 0, 705 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_RLL_FLTD
{ 4, { 102, 0, 4034 }, OSD_PARAM_NONE }, // ATC_RAT_PIT_P { 4, { 102, 0, 4034 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_PIT_P
{ 5, { 102, 0, 130 }, OSD_PARAM_NONE }, // ATC_RAT_PIT_D { 5, { 102, 0, 130 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_PIT_D
{ 6, { 102, 0, 706 }, OSD_PARAM_NONE }, // ATC_RAT_PIT_FLTD { 6, { 102, 0, 706 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_PIT_FLTD
{ 7, { 102, 0, 4035 }, OSD_PARAM_NONE }, // ATC_RAT_YAW_P { 7, { 102, 0, 4035 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_YAW_P
{ 8, { 102, 0, 131 }, OSD_PARAM_NONE }, // ATC_RAT_YAW_D { 8, { 102, 0, 131 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_YAW_D
{ 9, { 102, 0, 643 }, OSD_PARAM_NONE } // ATC_RAT_YAW_FLTE { 9, { 102, 0, 643 }, AP_OSD_ParamSetting::Type::NONE } // ATC_RAT_YAW_FLTE
}, },
{ {
{ 1, { 3, 0, 231 }, OSD_PARAM_NONE }, // INS_LOG_BAT_OPT { 1, { 3, 0, 231 }, AP_OSD_ParamSetting::Type::NONE }, // INS_LOG_BAT_OPT
{ 2, { 3, 0, 167 }, OSD_PARAM_NONE }, // INS_LOG_BAT_MASK { 2, { 3, 0, 167 }, AP_OSD_ParamSetting::Type::NONE }, // INS_LOG_BAT_MASK
{ 3, { 60, 0, 0 }, OSD_PARAM_NONE }, // LOG_BITMASK { 3, { 60, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // LOG_BITMASK
{ 4, { 3, 0, 18 }, OSD_PARAM_NONE }, // INS_GYRO_FILT { 4, { 3, 0, 18 }, AP_OSD_ParamSetting::Type::NONE }, // INS_GYRO_FILT
{ 5, { 102, 0, 6 }, OSD_PARAM_NONE }, // ATC_THR_MIX_MAN { 5, { 102, 0, 6 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_THR_MIX_MAN
{ 6, { 102, 0, 5 }, OSD_PARAM_NONE }, // ATC_THR_MIX_MAX { 6, { 102, 0, 5 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_THR_MIX_MAX
{ 7, { 6, 0, 25041 }, OSD_PARAM_AUX_FUNCTION }, // RC7_OPTION { 7, { 6, 0, 25041 }, AP_OSD_ParamSetting::Type::AUX_FUNCTION }, // RC7_OPTION
{ 8, { 6, 0, 25105 }, OSD_PARAM_AUX_FUNCTION }, // RC8_OPTION { 8, { 6, 0, 25105 }, AP_OSD_ParamSetting::Type::AUX_FUNCTION }, // RC8_OPTION
{ 9, { 36, 0, 1047 }, OSD_PARAM_FAILSAFE_ACTION_2 } // BATT_FS_LOW_ACT { 9, { 36, 0, 1047 }, AP_OSD_ParamSetting::Type::FAILSAFE_ACTION_2 } // BATT_FS_LOW_ACT
} }
#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane) #elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
{ {
{ 1, { 232, 0, 265 }, OSD_PARAM_NONE }, // RLL_RATE_FF { 1, { 232, 0, 265 }, AP_OSD_ParamSetting::Type::NONE }, // RLL_RATE_FF
{ 2, { 232, 0, 4041 }, OSD_PARAM_NONE }, // RLL_RATE_P { 2, { 232, 0, 4041 }, AP_OSD_ParamSetting::Type::NONE }, // RLL_RATE_P
{ 3, { 232, 0, 73 }, OSD_PARAM_NONE }, // RLL_RATE_I { 3, { 232, 0, 73 }, AP_OSD_ParamSetting::Type::NONE }, // RLL_RATE_I
{ 4, { 233, 0, 267 }, OSD_PARAM_NONE }, // PTCH_RATE_FF { 4, { 233, 0, 267 }, AP_OSD_ParamSetting::Type::NONE }, // PTCH_RATE_FF
{ 5, { 233, 0, 4043 }, OSD_PARAM_NONE }, // PTCH_RATE_P { 5, { 233, 0, 4043 }, AP_OSD_ParamSetting::Type::NONE }, // PTCH_RATE_P
{ 6, { 233, 0, 75 }, OSD_PARAM_NONE }, // PTCH_RATE_I { 6, { 233, 0, 75 }, AP_OSD_ParamSetting::Type::NONE }, // PTCH_RATE_I
{ 7, { 233, 0, 6 }, OSD_PARAM_NONE }, // PTCH2SRV_RLL { 7, { 233, 0, 6 }, AP_OSD_ParamSetting::Type::NONE }, // PTCH2SRV_RLL
{ 8, { 199, 0, 1 }, OSD_PARAM_NONE }, // TUNE_PARAM { 8, { 199, 0, 1 }, AP_OSD_ParamSetting::Type::NONE }, // TUNE_PARAM
{ 9, { 199, 0, 320 }, OSD_PARAM_NONE } // TUNE_RANGE { 9, { 199, 0, 320 }, AP_OSD_ParamSetting::Type::NONE } // TUNE_RANGE
}, },
{ {
{ 1, { 185, 0, 0 }, OSD_PARAM_NONE }, // TRIM_THROTTLE { 1, { 185, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // TRIM_THROTTLE
{ 2, { 155, 0, 0 }, OSD_PARAM_NONE }, // AIRSPEED_CRUISE { 2, { 155, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // AIRSPEED_CRUISE
{ 3, { 4, 0, 1094 }, OSD_PARAM_NONE }, // SERVO_AUTO_TRIM { 3, { 4, 0, 1094 }, AP_OSD_ParamSetting::Type::NONE }, // SERVO_AUTO_TRIM
{ 4, { 120, 0, 0 }, OSD_PARAM_NONE}, // AIRSPEED_MIN { 4, { 120, 0, 0 }, AP_OSD_ParamSetting::Type::NONE}, // AIRSPEED_MIN
{ 5, { 121, 0, 0 }, OSD_PARAM_NONE }, // AIRSPEED_MAX { 5, { 121, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // AIRSPEED_MAX
{ 6, { 156, 0, 0 }, OSD_PARAM_NONE }, // RTL_ALTITUDE { 6, { 156, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // RTL_ALTITUDE
{ 7, { 140, 2, 8 }, OSD_PARAM_NONE }, // AHRS_TRIM_Y { 7, { 140, 2, 8 }, AP_OSD_ParamSetting::Type::NONE }, // AHRS_TRIM_Y
{ 8, { 182, 0, 0 }, OSD_PARAM_NONE }, // THR_MAX { 8, { 182, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // THR_MAX
{ 9, { 189, 0, 0 }, OSD_PARAM_NONE } // THR_SLEWRATE { 9, { 189, 0, 0 }, AP_OSD_ParamSetting::Type::NONE } // THR_SLEWRATE
} }
#else #else
{ {
@ -381,7 +381,7 @@ void AP_OSD_ParamScreen::modify_configured_parameter(uint8_t number, Event ev)
setting._param_key.set(AP_Param::get_persistent_key(setting._current_token.key)); setting._param_key.set(AP_Param::get_persistent_key(setting._current_token.key));
setting._param_idx.set(setting._current_token.idx); setting._param_idx.set(setting._current_token.idx);
setting._param = param; setting._param = param;
setting._type.set(OSD_PARAM_NONE); setting._type.set(AP_OSD_ParamSetting::Type::NONE);
// force update() to refresh the token // force update() to refresh the token
setting._current_token.key = 0; setting._current_token.key = 0;
setting._current_token.idx = 0; setting._current_token.idx = 0;
@ -636,7 +636,7 @@ void AP_OSD_ParamScreen::handle_read_msg(const mavlink_osd_param_show_config_t&
// request out of range - return an error // request out of range - return an error
if (packet.osd_index < 1 || packet.osd_index > AP_OSD_ParamScreen::NUM_PARAMS) { if (packet.osd_index < 1 || packet.osd_index > AP_OSD_ParamScreen::NUM_PARAMS) {
mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_PARAMETER_INDEX, mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_PARAMETER_INDEX,
nullptr, OSD_PARAM_NONE, 0, 0, 0); nullptr, uint8_t(AP_OSD_ParamSetting::Type::NONE), 0, 0, 0);
return; return;
} }
// get the parameter and make sure it is fresh // get the parameter and make sure it is fresh
@ -646,7 +646,7 @@ void AP_OSD_ParamScreen::handle_read_msg(const mavlink_osd_param_show_config_t&
// check for bad things // check for bad things
if (param._param == nullptr) { if (param._param == nullptr) {
mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_PARAMETER_INDEX, mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_PARAMETER_INDEX,
nullptr, OSD_PARAM_NONE, 0, 0, 0); nullptr, uint8_t(AP_OSD_ParamSetting::Type::NONE), 0, 0, 0);
return; return;
} }
// get the name and send back the details // get the name and send back the details

34
libraries/AP_OSD/AP_OSD_ParamSetting.cpp
View File

@ -25,6 +25,7 @@
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <SRV_Channel/SRV_Channel.h> #include <SRV_Channel/SRV_Channel.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <ctype.h> #include <ctype.h>
#if OSD_PARAM_ENABLED #if OSD_PARAM_ENABLED
@ -99,6 +100,27 @@ const AP_Param::GroupInfo AP_OSD_ParamSetting::var_info[] = {
AP_GROUPEND AP_GROUPEND
}; };
#if HAL_GCS_ENABLED
// ensure that our OSD_PARAM type enumeration is 1:1 with the mavlink
// numbers. This allows us to do a simple cast from one to the other
// when sending mavlink messages, rather than having some sort of
// mapping function from our internal enumeration into the mavlink
// enumeration. Doing things this way has two advantages - in the
// future we could add that mapping function and change our
// enumeration, and the other is that it allows us to build the GPS
// library without having the mavlink headers built (for example, in
// AP_Periph we shouldn't need mavlink headers).
static_assert((uint32_t)AP_OSD_ParamSetting::Type::NONE == (uint32_t)OSD_PARAM_NONE, "OSD_PARAM_NONE incorrect");
static_assert((uint32_t)AP_OSD_ParamSetting::Type::SERIAL_PROTOCOL == (uint32_t)OSD_PARAM_SERIAL_PROTOCOL, "OSD_PARAM_SERIAL_PROTOCOL incorrect");
static_assert((uint32_t)AP_OSD_ParamSetting::Type::SERVO_FUNCTION == (uint32_t)OSD_PARAM_SERVO_FUNCTION, "OSD_PARAM_SERVO_FUNCTION incorrect");
static_assert((uint32_t)AP_OSD_ParamSetting::Type::AUX_FUNCTION == (uint32_t)OSD_PARAM_AUX_FUNCTION, "OSD_PARAM_AUX_FUNCTION incorrect");
static_assert((uint32_t)AP_OSD_ParamSetting::Type::FLIGHT_MODE == (uint32_t)OSD_PARAM_FLIGHT_MODE, "OSD_PARAM_FLIGHT_MODE incorrect");
static_assert((uint32_t)AP_OSD_ParamSetting::Type::FAILSAFE_ACTION == (uint32_t)OSD_PARAM_FAILSAFE_ACTION, "OSD_PARAM_FAILSAFE_ACTION incorrect");
static_assert((uint32_t)AP_OSD_ParamSetting::Type::FAILSAFE_ACTION_1 == (uint32_t)OSD_PARAM_FAILSAFE_ACTION_1, "OSD_PARAM_FAILSAFE_ACTION_1 incorrect");
static_assert((uint32_t)AP_OSD_ParamSetting::Type::FAILSAFE_ACTION_2 == (uint32_t)OSD_PARAM_FAILSAFE_ACTION_2, "OSD_PARAM_FAILSAFE_ACTION_2 incorrect");
static_assert((uint32_t)AP_OSD_ParamSetting::Type::NUM_TYPES == (uint32_t)AP_OSD_ParamSetting::Type::NUM_TYPES, "AP_OSD_ParamSetting::Type::NUM_TYPES incorrect");
#endif // HAL_GCS_ENABLED
#define PARAM_COMPOSITE_INDEX(key, idx, group) (uint32_t((uint32_t(key) << 23) | (uint32_t(idx) << 18) | uint32_t(group))) #define PARAM_COMPOSITE_INDEX(key, idx, group) (uint32_t((uint32_t(key) << 23) | (uint32_t(idx) << 18) | uint32_t(group)))
#define OSD_PARAM_DEBUG 0 #define OSD_PARAM_DEBUG 0
@ -175,7 +197,7 @@ static const char* FS_LNG_ACTNS[] = {
}; };
// plane parameters // plane parameters
const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OSD_PARAM_NUM_TYPES] = { const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[unsigned(AP_OSD_ParamSetting::Type::NUM_TYPES)] = {
{ -1, AP_SerialManager::SerialProtocol_NumProtocols - 1, 1, ARRAY_SIZE(SERIAL_PROTOCOL_VALUES), SERIAL_PROTOCOL_VALUES }, // OSD_PARAM_SERIAL_PROTOCOL { -1, AP_SerialManager::SerialProtocol_NumProtocols - 1, 1, ARRAY_SIZE(SERIAL_PROTOCOL_VALUES), SERIAL_PROTOCOL_VALUES }, // OSD_PARAM_SERIAL_PROTOCOL
{ 0, SRV_Channel::k_nr_aux_servo_functions - 1, 1, ARRAY_SIZE(SERVO_FUNCTIONS), SERVO_FUNCTIONS }, // OSD_PARAM_SERVO_FUNCTION { 0, SRV_Channel::k_nr_aux_servo_functions - 1, 1, ARRAY_SIZE(SERVO_FUNCTIONS), SERVO_FUNCTIONS }, // OSD_PARAM_SERVO_FUNCTION
{ 0, 105, 1, ARRAY_SIZE(AUX_OPTIONS), AUX_OPTIONS }, // OSD_PARAM_AUX_FUNCTION { 0, 105, 1, ARRAY_SIZE(AUX_OPTIONS), AUX_OPTIONS }, // OSD_PARAM_AUX_FUNCTION
@ -222,7 +244,7 @@ static const char* FS_ACT[] = {
}; };
// copter parameters // copter parameters
const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OSD_PARAM_NUM_TYPES] = { const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[unsigned(AP_OSD_ParamSetting::Type::NUM_TYPES)] = {
{ -1, AP_SerialManager::SerialProtocol_NumProtocols - 1, 1, ARRAY_SIZE(SERIAL_PROTOCOL_VALUES), SERIAL_PROTOCOL_VALUES }, // OSD_PARAM_SERIAL_PROTOCOL { -1, AP_SerialManager::SerialProtocol_NumProtocols - 1, 1, ARRAY_SIZE(SERIAL_PROTOCOL_VALUES), SERIAL_PROTOCOL_VALUES }, // OSD_PARAM_SERIAL_PROTOCOL
{ 0, SRV_Channel::k_nr_aux_servo_functions - 1, 1, ARRAY_SIZE(SERVO_FUNCTIONS), SERVO_FUNCTIONS }, // OSD_PARAM_SERVO_FUNCTION { 0, SRV_Channel::k_nr_aux_servo_functions - 1, 1, ARRAY_SIZE(SERVO_FUNCTIONS), SERVO_FUNCTIONS }, // OSD_PARAM_SERVO_FUNCTION
{ 0, 105, 1, ARRAY_SIZE(AUX_OPTIONS), AUX_OPTIONS }, // OSD_PARAM_AUX_FUNCTION { 0, 105, 1, ARRAY_SIZE(AUX_OPTIONS), AUX_OPTIONS }, // OSD_PARAM_AUX_FUNCTION
@ -233,7 +255,7 @@ const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OS
}; };
#else #else
const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OSD_PARAM_NUM_TYPES] = {}; const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[unsigned(AP_OSD_ParamSetting::Type::NUM_TYPES)] = {};
#endif #endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -257,7 +279,7 @@ AP_OSD_ParamSetting::AP_OSD_ParamSetting(const Initializer& initializer) :
default_param_group(initializer.token.group_element), default_param_group(initializer.token.group_element),
default_param_idx(initializer.token.idx), default_param_idx(initializer.token.idx),
default_param_key(initializer.token.key), default_param_key(initializer.token.key),
default_type(initializer.type) default_type(float(initializer.type))
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }
@ -305,7 +327,7 @@ bool AP_OSD_ParamSetting::set_by_name(const char* name, uint8_t config_type, flo
_type.set_and_save_ifchanged(config_type); _type.set_and_save_ifchanged(config_type);
if (config_type == OSD_PARAM_NONE && !is_zero(pincr)) { if (config_type == uint8_t(Type::NONE) && !is_zero(pincr)) {
// ranges // ranges
_param_min.set_and_save_ifchanged(pmin); _param_min.set_and_save_ifchanged(pmin);
_param_max.set_and_save_ifchanged(pmax); _param_max.set_and_save_ifchanged(pmax);
@ -430,7 +452,7 @@ void AP_OSD_ParamSetting::copy_name_camel_case(char* name, size_t len) const
bool AP_OSD_ParamSetting::set_from_metadata() bool AP_OSD_ParamSetting::set_from_metadata()
{ {
// check for statically configured setting metadata // check for statically configured setting metadata
if (_type > 0 && _type < OSD_PARAM_NUM_TYPES && _param_metadata[_type - 1].values_max > 0) { if (_type > 0 && _type < uint8_t(Type::NUM_TYPES) && _param_metadata[_type - 1].values_max > 0) {
_param_incr.set(_param_metadata[_type - 1].increment); _param_incr.set(_param_metadata[_type - 1].increment);
_param_min.set(_param_metadata[_type - 1].min_value); _param_min.set(_param_metadata[_type - 1].min_value);
_param_max.set(_param_metadata[_type - 1].max_value); _param_max.set(_param_metadata[_type - 1].max_value);