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Adressing reinterpret_cast review comment

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This commit is contained in:
Matej Frančeškin
2021-11-12 15:54:28 +01:00
parent c53a49b1ee
commit 33d31a592c
1 changed files with 58 additions and 48 deletions
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src/modules/navigator/mission.cpp
+58 -48
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@@ -1932,6 +1932,12 @@ void Mission::publish_navigator_mission_item()
void Mission::calculate_mission_checksums()
{
union {
uint8_t uint8_part;
uint8_t uint16_part;
float float_part;
} crc_part;
mission_s mission_state = {};
mission_stats_entry_s stats;
mission_checksum_s csum{};
@@ -1969,24 +1975,24 @@ void Mission::calculate_mission_checksums()
fail = true;
} else {
uint8_t frame = mission_item.frame;
csum.mission_checksum = crc32part(&frame, sizeof(frame), csum.mission_checksum);
csum.mission_checksum = crc32part(reinterpret_cast<uint8_t *>(&mission_item.nav_cmd), sizeof(mission_item.nav_cmd),
csum.mission_checksum);
uint8_t autocontinue = mission_item.autocontinue;
csum.mission_checksum = crc32part(&autocontinue, sizeof(autocontinue), csum.mission_checksum);
crc_part.uint8_part = mission_item.frame;
csum.mission_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.uint8_part), csum.mission_checksum);
crc_part.uint16_part = mission_item.nav_cmd;
csum.mission_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.uint16_part), csum.mission_checksum);
crc_part.uint8_part = mission_item.autocontinue;
csum.mission_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.uint8_part), csum.mission_checksum);
for (int j = 0; j < 4; j++) {
csum.mission_checksum = crc32part(reinterpret_cast<uint8_t *>(&mission_item.params[j]), sizeof(mission_item.params[j]),
csum.mission_checksum);
crc_part.float_part = mission_item.params[j];
csum.mission_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.mission_checksum);
}
float lat = static_cast<float>(mission_item.lat);
csum.mission_checksum = crc32part(reinterpret_cast<uint8_t *>(&lat), sizeof(lat), csum.mission_checksum);
float lon = static_cast<float>(mission_item.lon);
csum.mission_checksum = crc32part(reinterpret_cast<uint8_t *>(&lon), sizeof(lon), csum.mission_checksum);
float alt = mission_item.params[6];
csum.mission_checksum = crc32part(reinterpret_cast<uint8_t *>(&alt), sizeof(alt), csum.mission_checksum);
crc_part.float_part = mission_item.lat;
csum.mission_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.mission_checksum);
crc_part.float_part = mission_item.lon;
csum.mission_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.mission_checksum);
crc_part.float_part = mission_item.params[6];
csum.mission_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.mission_checksum);
}
}
@@ -2014,27 +2020,29 @@ void Mission::calculate_mission_checksums()
fail = true;
} else {
uint8_t frame = mission_fence_point.frame;
csum.fence_checksum = crc32part(&frame, sizeof(frame), csum.fence_checksum);
csum.all_checksum = crc32part(&frame, sizeof(frame), csum.all_checksum);
csum.fence_checksum = crc32part(reinterpret_cast<uint8_t *>(&mission_fence_point.nav_cmd),
sizeof(mission_fence_point.nav_cmd), csum.fence_checksum);
csum.all_checksum = crc32part(reinterpret_cast<uint8_t *>(&mission_fence_point.nav_cmd),
sizeof(mission_fence_point.nav_cmd), csum.all_checksum);
float lat = static_cast<float>(mission_fence_point.lat);
csum.fence_checksum = crc32part(reinterpret_cast<uint8_t *>(&lat), sizeof(lat), csum.fence_checksum);
csum.all_checksum = crc32part(reinterpret_cast<uint8_t *>(&lat), sizeof(lat), csum.all_checksum);
float lon = static_cast<float>(mission_fence_point.lon);
csum.fence_checksum = crc32part(reinterpret_cast<uint8_t *>(&lon), sizeof(lon), csum.fence_checksum);
csum.all_checksum = crc32part(reinterpret_cast<uint8_t *>(&lon), sizeof(lon), csum.all_checksum);
csum.fence_checksum = crc32part(reinterpret_cast<uint8_t *>(&mission_fence_point.alt), sizeof(mission_fence_point.alt),
csum.fence_checksum);
csum.all_checksum = crc32part(reinterpret_cast<uint8_t *>(&mission_fence_point.alt), sizeof(mission_fence_point.alt),
csum.all_checksum);
csum.fence_checksum = crc32part(reinterpret_cast<uint8_t *>(&mission_fence_point.circle_radius),
sizeof(mission_fence_point.circle_radius), csum.fence_checksum);
csum.all_checksum = crc32part(reinterpret_cast<uint8_t *>(&mission_fence_point.circle_radius),
sizeof(mission_fence_point.circle_radius), csum.all_checksum);
crc_part.uint8_part = mission_fence_point.frame;
csum.fence_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.uint8_part), csum.fence_checksum);
csum.all_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.uint8_part), csum.all_checksum);
crc_part.uint16_part = mission_fence_point.nav_cmd;
csum.fence_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.uint16_part), csum.fence_checksum);
csum.all_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.uint16_part), csum.all_checksum);
crc_part.float_part = mission_fence_point.lat;
csum.fence_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.fence_checksum);
csum.all_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.all_checksum);
crc_part.float_part = mission_fence_point.lon;
csum.fence_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.fence_checksum);
csum.all_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.all_checksum);
crc_part.float_part = mission_fence_point.alt;
csum.fence_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.fence_checksum);
csum.all_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.all_checksum);
crc_part.float_part = mission_fence_point.circle_radius;
csum.fence_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.fence_checksum);
csum.all_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.all_checksum);
}
}
@@ -2060,19 +2068,21 @@ void Mission::calculate_mission_checksums()
fail = true;
} else {
uint8_t frame = mission_safe_point.frame;
csum.rally_checksum = crc32part(&frame, sizeof(frame), csum.rally_checksum);
csum.all_checksum = crc32part(&frame, sizeof(frame), csum.all_checksum);
float lat = static_cast<float>(mission_safe_point.lat);
csum.rally_checksum = crc32part(reinterpret_cast<uint8_t *>(&lat), sizeof(lat), csum.rally_checksum);
csum.all_checksum = crc32part(reinterpret_cast<uint8_t *>(&lat), sizeof(lat), csum.all_checksum);
float lon = static_cast<float>(mission_safe_point.lon);
csum.rally_checksum = crc32part(reinterpret_cast<uint8_t *>(&lon), sizeof(lon), csum.rally_checksum);
csum.all_checksum = crc32part(reinterpret_cast<uint8_t *>(&lon), sizeof(lon), csum.all_checksum);
csum.rally_checksum = crc32part(reinterpret_cast<uint8_t *>(&mission_safe_point.alt), sizeof(mission_safe_point.alt),
csum.rally_checksum);
csum.all_checksum = crc32part(reinterpret_cast<uint8_t *>(&mission_safe_point.alt), sizeof(mission_safe_point.alt),
csum.all_checksum);
crc_part.uint8_part = mission_safe_point.frame;
csum.rally_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.uint8_part), csum.rally_checksum);
csum.all_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.uint8_part), csum.all_checksum);
crc_part.float_part = mission_safe_point.lat;
csum.rally_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.rally_checksum);
csum.all_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.all_checksum);
crc_part.float_part = mission_safe_point.lon;
csum.rally_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.rally_checksum);
csum.all_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.all_checksum);
crc_part.float_part = mission_safe_point.alt;
csum.rally_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.rally_checksum);
csum.all_checksum = crc32part(&crc_part.uint8_part, sizeof(crc_part.float_part), csum.all_checksum);
}
}