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mavlink: use reference instead of pointer to access the MAVLink instance from protocol classes

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This commit is contained in:
Matthias Grob
2024-06-03 11:26:43 +02:00
parent 9a7a977625
commit 68769ea0ec
16 changed files with 156 additions and 166 deletions
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src/modules/mavlink/mavlink_ftp.cpp
+8 -12
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@@ -45,17 +45,13 @@
#include "mavlink_ftp.h"
#include "mavlink_tests/mavlink_ftp_test.h"
#ifndef MAVLINK_FTP_UNIT_TEST
#include "mavlink_main.h"
#else
#include <mavlink.h>
#endif
using namespace time_literals;
constexpr const char MavlinkFTP::_root_dir[];
MavlinkFTP::MavlinkFTP(Mavlink *mavlink) :
MavlinkFTP::MavlinkFTP(Mavlink &mavlink) :
_mavlink(mavlink)
{
// initialize session
@@ -96,7 +92,7 @@ MavlinkFTP::_getServerSystemId()
return MavlinkFtpTest::serverSystemId;
#else
// Not unit testing, use the real thing
return _mavlink->get_system_id();
return _mavlink.get_system_id();
#endif
}
@@ -108,7 +104,7 @@ MavlinkFTP::_getServerComponentId()
return MavlinkFtpTest::serverComponentId;
#else
// Not unit testing, use the real thing
return _mavlink->get_component_id();
return _mavlink.get_component_id();
#endif
}
@@ -120,7 +116,7 @@ MavlinkFTP::_getServerChannel()
return MavlinkFtpTest::serverChannel;
#else
// Not unit testing, use the real thing
return _mavlink->get_channel();
return _mavlink.get_channel();
#endif
}
@@ -180,7 +176,7 @@ MavlinkFTP::_process_request(
#ifdef MAVLINK_FTP_UNIT_TEST
_utRcvMsgFunc(last_reply, _worker_data);
#else
mavlink_msg_file_transfer_protocol_send_struct(_mavlink->get_channel(), last_reply);
mavlink_msg_file_transfer_protocol_send_struct(_mavlink.get_channel(), last_reply);
#endif
return;
}
@@ -340,7 +336,7 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t *ftp_req)
// Unit test hook is set, call that instead
_utRcvMsgFunc(ftp_req, _worker_data);
#else
mavlink_msg_file_transfer_protocol_send_struct(_mavlink->get_channel(), ftp_req);
mavlink_msg_file_transfer_protocol_send_struct(_mavlink.get_channel(), ftp_req);
#endif
}
@@ -1055,8 +1051,8 @@ void MavlinkFTP::send()
#ifndef MAVLINK_FTP_UNIT_TEST
// Skip send if not enough room
unsigned max_bytes_to_send = _mavlink->get_free_tx_buf();
PX4_DEBUG("MavlinkFTP::send max_bytes_to_send(%u) get_free_tx_buf(%u)", max_bytes_to_send, _mavlink->get_free_tx_buf());
unsigned max_bytes_to_send = _mavlink.get_free_tx_buf();
PX4_DEBUG("MavlinkFTP::send max_bytes_to_send(%u) get_free_tx_buf(%u)", max_bytes_to_send, _mavlink.get_free_tx_buf());
if (max_bytes_to_send < get_size()) {
return;