From df90cee8a02ac2bf93cff6a2e517ed73954e3ab1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 2 Oct 2019 20:54:35 +1000
Subject: [PATCH] AP_ADSB: added handle_adsb_vehicle() API

this allows for UAVCAN ADSB adapters
---
 libraries/AP_ADSB/AP_ADSB.cpp | 22 +++++++++++++++-------
 libraries/AP_ADSB/AP_ADSB.h   |  5 ++++-
 2 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_ADSB/AP_ADSB.cpp b/libraries/AP_ADSB/AP_ADSB.cpp
index 28fcaed8f1..5dfb7944fd 100644
--- a/libraries/AP_ADSB/AP_ADSB.cpp
+++ b/libraries/AP_ADSB/AP_ADSB.cpp
@@ -413,7 +413,7 @@ bool AP_ADSB::find_index(const adsb_vehicle_t &vehicle, uint16_t *index) const
  * Update the vehicle list. If the vehicle is already in the
  * list then it will update it, otherwise it will be added.
  */
-void AP_ADSB::handle_vehicle(const mavlink_message_t &packet)
+void AP_ADSB::handle_adsb_vehicle(const adsb_vehicle_t &vehicle)
 {
     if (in_state.vehicle_list == nullptr) {
         // We are only null when disabled. Updating is inhibited.
@@ -421,8 +421,6 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t &packet)
     }
 
     uint16_t index = in_state.list_size + 1; // initialize with invalid index
-    adsb_vehicle_t vehicle {};
-    mavlink_msg_adsb_vehicle_decode(&packet, &vehicle.info);
     const Location vehicle_loc = AP_ADSB::get_location(vehicle);
     const bool my_loc_is_zero = _my_loc.is_zero();
     const float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc);
@@ -432,9 +430,6 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t &packet)
     const bool is_tracked_in_list = find_index(vehicle, &index);
     const uint32_t now = AP_HAL::millis();
 
-    // note the last time the receiver got a packet from the aircraft
-    vehicle.last_update_ms = now - (vehicle.info.tslc * 1000);
-
     const uint16_t required_flags_position = ADSB_FLAGS_VALID_COORDS | ADSB_FLAGS_VALID_ALTITUDE;
     const bool detected_ourself = (out_state.cfg.ICAO_id != 0) && ((uint32_t)out_state.cfg.ICAO_id == vehicle.info.ICAO_address);
 
@@ -500,6 +495,19 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t &packet)
     }
 }
 
+/*
+ * Update the vehicle list. If the vehicle is already in the
+ * list then it will update it, otherwise it will be added.
+ */
+void AP_ADSB::handle_vehicle(const mavlink_message_t &packet)
+{
+    adsb_vehicle_t vehicle {};
+    const uint32_t now = AP_HAL::millis();
+    mavlink_msg_adsb_vehicle_decode(&packet, &vehicle.info);
+    vehicle.last_update_ms = now - (vehicle.info.tslc * 1000);
+    handle_adsb_vehicle(vehicle);
+}
+
 /*
  * Copy a vehicle's data into the list
  */
@@ -871,7 +879,7 @@ void AP_ADSB::set_callsign(const char* str, const bool append_icao)
 }
 
 
-void AP_ADSB::push_sample(adsb_vehicle_t &vehicle)
+void AP_ADSB::push_sample(const adsb_vehicle_t &vehicle)
 {
     samples.push(vehicle);
 }
diff --git a/libraries/AP_ADSB/AP_ADSB.h b/libraries/AP_ADSB/AP_ADSB.h
index 954970bedf..123ce97548 100644
--- a/libraries/AP_ADSB/AP_ADSB.h
+++ b/libraries/AP_ADSB/AP_ADSB.h
@@ -73,6 +73,9 @@ public:
     }
     bool next_sample(adsb_vehicle_t &obstacle);
 
+    // handle a adsb_vehicle_t from an external source (used for UAVCAN)
+    void handle_adsb_vehicle(const adsb_vehicle_t &vehicle);
+
     // mavlink message handler
     void handle_message(const mavlink_channel_t chan, const mavlink_message_t &msg);
 
@@ -197,7 +200,7 @@ private:
     static const uint8_t max_samples = 30;
     ObjectBuffer<adsb_vehicle_t> samples{max_samples};
 
-    void push_sample(adsb_vehicle_t &vehicle);
+    void push_sample(const adsb_vehicle_t &vehicle);
 
     // logging
     AP_Int8 _log;