aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

GCS_MAVLink: consolidate places we snprintf statustexts

Browse Source
This commit is contained in:
Peter Barker 2020-01-13 13:08:14 +11:00 committed by Andrew Tridgell
parent 9410d40b2f
commit a9f62f196e
4 changed files with 13 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/GCS_MAVLink/GCS.cpp
View File

@ -37,8 +37,6 @@ const MAV_MISSION_TYPE GCS_MAVLINK::supported_mission_types[] = {
*/ */
void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list) void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list)
{ {
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
hal.util->vsnprintf(text, sizeof(text), fmt, arg_list);
uint8_t mask = GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask(); uint8_t mask = GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask();
if (!update_send_has_been_called) { if (!update_send_has_been_called) {
// we have not yet initialised the streaming-channel-mask, // we have not yet initialised the streaming-channel-mask,
@ -46,7 +44,7 @@ void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list)
// it to all channels: // it to all channels:
mask = (1<<_num_gcs)-1; mask = (1<<_num_gcs)-1;
} }
send_statustext(severity, mask, text); send_textv(severity, fmt, arg_list, mask);
} }
void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...) void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)

5
libraries/GCS_MAVLink/GCS.h
View File

@ -838,8 +838,8 @@ public:
void send_text(MAV_SEVERITY severity, const char *fmt, ...) FMT_PRINTF(3, 4); void send_text(MAV_SEVERITY severity, const char *fmt, ...) FMT_PRINTF(3, 4);
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list); void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list);
virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text); virtual void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t mask);
void service_statustext(void);
virtual GCS_MAVLINK *chan(const uint8_t ofs) = 0; virtual GCS_MAVLINK *chan(const uint8_t ofs) = 0;
virtual const GCS_MAVLINK *chan(const uint8_t ofs) const = 0; virtual const GCS_MAVLINK *chan(const uint8_t ofs) const = 0;
// return the number of valid GCS objects // return the number of valid GCS objects
@ -938,6 +938,7 @@ private:
void update_sensor_status_flags(); void update_sensor_status_flags();
void service_statustext(void);
#if HAL_MEM_CLASS <= HAL_MEM_CLASS_192 || CONFIG_HAL_BOARD == HAL_BOARD_SITL #if HAL_MEM_CLASS <= HAL_MEM_CLASS_192 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
static const uint8_t _status_capacity = 5; static const uint8_t _status_capacity = 5;
#else #else

11
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -600,12 +600,10 @@ void GCS_MAVLINK::handle_param_value(const mavlink_message_t &msg)
void GCS_MAVLINK::send_text(MAV_SEVERITY severity, const char *fmt, ...) const void GCS_MAVLINK::send_text(MAV_SEVERITY severity, const char *fmt, ...) const
{ {
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
va_list arg_list; va_list arg_list;
va_start(arg_list, fmt); va_start(arg_list, fmt);
hal.util->vsnprintf(text, sizeof(text), fmt, arg_list); gcs().send_textv(severity, fmt, arg_list, (1<<chan));
va_end(arg_list); va_end(arg_list);
gcs().send_statustext(severity, (1<<chan), text);
} }
void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_radio) void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_radio)
@ -1762,13 +1760,14 @@ void GCS_MAVLINK::send_ahrs()
/* /*
send a statustext text string to specific MAVLink bitmask send a statustext text string to specific MAVLink bitmask
*/ */
void GCS::send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t dest_bitmask)
{ {
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
if (hal.util->vsnprintf(text, sizeof(text), fmt, arg_list) > MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (strlen(text) > MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN) {
AP_HAL::panic("Statustext (%s) too long", text); AP_HAL::panic("Statustext (%s) too long", text);
}
#endif #endif
}
AP_Logger *logger = AP_Logger::get_singleton(); AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr) { if (logger != nullptr) {

5
libraries/GCS_MAVLink/GCS_Dummy.h
View File

@ -85,7 +85,10 @@ private:
return (GCS_MAVLINK_Dummy *)_chan[ofs]; return (GCS_MAVLINK_Dummy *)_chan[ofs];
}; };
void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) override { hal.console->printf("TOGCS: %s\n", text); } void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t dest_bitmask) override {
hal.console->printf("TOGCS: ");
hal.console->vprintf(fmt, arg_list);
}
MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; } MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
uint32_t custom_mode() const override { return 3; } // magic number uint32_t custom_mode() const override { return 3; } // magic number