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GCS_MAVLink: add type-correctness for stream entries

This commit is contained in:
Peter Barker 2018-05-21 13:49:10 +10:00 committed by Peter Barker
parent f0dd90b81a
commit fe2d8f853b
2 changed files with 20 additions and 18 deletions
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32
libraries/GCS_MAVLink/GCS.h
View File

@ -34,7 +34,7 @@
/// please keep each MSG_ to a single MAVLink message. If need be
/// create new MSG_ IDs for additional messages on the same
/// stream
enum ap_message {
enum ap_message : uint8_t {
MSG_HEARTBEAT,
MSG_ATTITUDE,
MSG_LOCATION,
@ -92,7 +92,7 @@ enum ap_message {
stream_name ## _msgs, \
ARRAY_SIZE(stream_name ## _msgs) \
}
#define MAV_STREAM_TERMINATOR { 0, nullptr, 0 }
#define MAV_STREAM_TERMINATOR { (streams)0, nullptr, 0 }
///
/// @class GCS_MAVLINK
@ -128,17 +128,19 @@ public:
// NOTE! The streams enum below and the
// set of AP_Int16 stream rates _must_ be
// kept in the same order
enum streams {STREAM_RAW_SENSORS,
STREAM_EXTENDED_STATUS,
STREAM_RC_CHANNELS,
STREAM_RAW_CONTROLLER,
STREAM_POSITION,
STREAM_EXTRA1,
STREAM_EXTRA2,
STREAM_EXTRA3,
STREAM_PARAMS,
STREAM_ADSB,
NUM_STREAMS};
enum streams : uint8_t {
STREAM_RAW_SENSORS,
STREAM_EXTENDED_STATUS,
STREAM_RC_CHANNELS,
STREAM_RAW_CONTROLLER,
STREAM_POSITION,
STREAM_EXTRA1,
STREAM_EXTRA2,
STREAM_EXTRA3,
STREAM_PARAMS,
STREAM_ADSB,
NUM_STREAMS
};
// see if we should send a stream now. Called at 50Hz
bool stream_trigger(enum streams stream_num);
@ -232,8 +234,8 @@ public:
FUNCTOR_TYPEDEF(protocol_handler_fn_t, bool, uint8_t, AP_HAL::UARTDriver *);
struct stream_entries {
const uint8_t stream_id; // narrowed from uint32_t (enumeration)
const uint8_t *ap_message_ids; // narrowed from uint32_t (enumeration)
const streams stream_id;
const ap_message *ap_message_ids;
const uint8_t num_ap_message_ids;
};
// vehicle subclass cpp files should define this:

6
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2940,10 +2940,10 @@ void GCS_MAVLINK::data_stream_send(void)
if (!stream_trigger(id)) {
continue;
}
const uint8_t *msg_ids = all_stream_entries[i].ap_message_ids;
const ap_message *msg_ids = all_stream_entries[i].ap_message_ids;
for (uint8_t j=0; j<all_stream_entries[i].num_ap_message_ids; j++) {
const uint8_t msg_id = msg_ids[j];
send_message((ap_message)msg_id);
const ap_message msg_id = msg_ids[j];
send_message(msg_id);
}
if (gcs().out_of_time()) {
break;