fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 05:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Matthias Grob
2024-06-05 16:13:52 +02:00
parent 9a7a977625
commit 68769ea0ec
16 changed files with 156 additions and 166 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_mission.cpp
+35 -35
View File
@@ -72,7 +72,7 @@ constexpr uint16_t MavlinkMissionManager::MAX_COUNT[];
(_msg.target_component == MAV_COMP_ID_MISSIONPLANNER) || \
(_msg.target_component == MAV_COMP_ID_ALL)))
MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
MavlinkMissionManager::MavlinkMissionManager(Mavlink &mavlink) :
_mavlink(mavlink)
{
if (!_dataman_init) {
@@ -209,7 +209,7 @@ MavlinkMissionManager::update_geofence_count(dm_item_t fence_dataman_id, unsigne
} else {
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD\t");
_mavlink.send_statustext_critical("Mission storage: Unable to write to microSD\t");
events::send(events::ID("mavlink_mission_storage_write_failure2"), events::Log::Critical,
"Mission: Unable to write to storage");
}
@@ -245,7 +245,7 @@ MavlinkMissionManager::update_safepoint_count(dm_item_t safepoint_dataman_id, un
} else {
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD\t");
_mavlink.send_statustext_critical("Mission storage: Unable to write to microSD\t");
events::send(events::ID("mavlink_mission_storage_write_failure3"), events::Log::Critical,
"Mission: Unable to write to storage");
}
@@ -270,7 +270,7 @@ MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t t
wpa.mission_type = _mission_type;
wpa.opaque_id = opaque_id;
mavlink_msg_mission_ack_send_struct(_mavlink->get_channel(), &wpa);
mavlink_msg_mission_ack_send_struct(_mavlink.get_channel(), &wpa);
PX4_DEBUG("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system);
}
@@ -284,7 +284,7 @@ MavlinkMissionManager::send_mission_current(uint16_t seq)
wpc.mission_id = _crc32[MAV_MISSION_TYPE_MISSION];
wpc.fence_id = _crc32[MAV_MISSION_TYPE_FENCE];
wpc.rally_points_id = _crc32[MAV_MISSION_TYPE_RALLY];
mavlink_msg_mission_current_send_struct(_mavlink->get_channel(), &wpc);
mavlink_msg_mission_current_send_struct(_mavlink.get_channel(), &wpc);
PX4_DEBUG("WPM: Send MISSION_CURRENT seq %d", seq);
}
@@ -303,7 +303,7 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
wpc.mission_type = mission_type;
wpc.opaque_id = opaque_id;
mavlink_msg_mission_count_send_struct(_mavlink->get_channel(), &wpc);
mavlink_msg_mission_count_send_struct(_mavlink.get_channel(), &wpc);
PX4_DEBUG("WPM: Send MISSION_COUNT %u to ID %u, mission type=%i", wpc.count, wpc.target_system, mission_type);
}
@@ -350,7 +350,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
break;
default:
_mavlink->send_statustext_critical("Received unknown mission type, abort.\t");
_mavlink.send_statustext_critical("Received unknown mission type, abort.\t");
events::send(events::ID("mavlink_mission_recv_unknown_mis_type"), events::Log::Error,
"Received unknown mission type, abort");
break;
@@ -368,7 +368,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
wp.seq = seq;
wp.current = (_current_seq == seq) ? 1 : 0;
mavlink_msg_mission_item_int_send_struct(_mavlink->get_channel(), &wp);
mavlink_msg_mission_item_int_send_struct(_mavlink.get_channel(), &wp);
PX4_DEBUG("WPM: Send MISSION_ITEM_INT seq %u to ID %u", wp.seq, wp.target_system);
@@ -381,7 +381,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
wp.seq = seq;
wp.current = (_current_seq == seq) ? 1 : 0;
mavlink_msg_mission_item_send_struct(_mavlink->get_channel(), &wp);
mavlink_msg_mission_item_send_struct(_mavlink.get_channel(), &wp);
PX4_DEBUG("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system);
}
@@ -390,7 +390,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
mavlink_log_critical(_mavlink->get_mavlink_log_pub(),
mavlink_log_critical(_mavlink.get_mavlink_log_pub(),
"Mission storage: Unable to read from storage, type: %" PRId8 "\t", (uint8_t)_mission_type);
/* EVENT
* @description Mission type: {1}
@@ -448,7 +448,7 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
wpr.target_component = compid;
wpr.seq = seq;
wpr.mission_type = _mission_type;
mavlink_msg_mission_request_int_send_struct(_mavlink->get_channel(), &wpr);
mavlink_msg_mission_request_int_send_struct(_mavlink.get_channel(), &wpr);
PX4_DEBUG("WPM: Send MISSION_REQUEST_INT seq %u to ID %u", wpr.seq, wpr.target_system);
@@ -460,13 +460,13 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
wpr.seq = seq;
wpr.mission_type = _mission_type;
mavlink_msg_mission_request_send_struct(_mavlink->get_channel(), &wpr);
mavlink_msg_mission_request_send_struct(_mavlink.get_channel(), &wpr);
PX4_DEBUG("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system);
}
} else {
_mavlink->send_statustext_critical("ERROR: Waypoint index exceeds list capacity\t");
_mavlink.send_statustext_critical("ERROR: Waypoint index exceeds list capacity\t");
events::send<uint16_t>(events::ID("mavlink_mission_wp_index_exceeds_list"), events::Log::Error,
"Waypoint index eceeds list capacity (maximum: {1})", current_max_item_count());
@@ -481,7 +481,7 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
wp_reached.seq = seq;
mavlink_msg_mission_item_reached_send_struct(_mavlink->get_channel(), &wp_reached);
mavlink_msg_mission_item_reached_send_struct(_mavlink.get_channel(), &wp_reached);
PX4_DEBUG("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq);
}
@@ -490,7 +490,7 @@ void
MavlinkMissionManager::send()
{
// do not send anything over high latency communication
if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) {
if (_mavlink.get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) {
return;
}
@@ -509,7 +509,7 @@ MavlinkMissionManager::send()
send_mission_current(_current_seq);
} else {
_mavlink->send_statustext_critical("ERROR: wp index out of bounds\t");
_mavlink.send_statustext_critical("ERROR: wp index out of bounds\t");
events::send<uint16_t, uint16_t>(events::ID("mavlink_mission_wp_index_out_of_bounds"), events::Log::Error,
"Waypoint index out of bounds (current {1} \\>= total {2})", mission_result.seq_current, mission_result.seq_total);
}
@@ -562,7 +562,7 @@ MavlinkMissionManager::send()
} else if (_state != MAVLINK_WPM_STATE_IDLE && (_time_last_recv > 0)
&& hrt_elapsed_time(&_time_last_recv) > MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT) {
_mavlink->send_statustext_critical("Operation timeout\t");
_mavlink.send_statustext_critical("Operation timeout\t");
events::send(events::ID("mavlink_mission_op_timeout"), events::Log::Error,
"Operation timeout, aborting transfer");
@@ -674,7 +674,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
}
} else {
_mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch\t");
_mavlink.send_statustext_critical("REJ. WP CMD: partner id mismatch\t");
events::send(events::ID("mavlink_mission_partner_id_mismatch"), events::Log::Error,
"Rejecting waypoint command, component or system ID mismatch");
@@ -699,7 +699,7 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
} else {
PX4_ERR("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq);
_mavlink->send_statustext_critical("WPM: WP CURR CMD: Not in list\t");
_mavlink.send_statustext_critical("WPM: WP CURR CMD: Not in list\t");
events::send(events::ID("mavlink_mission_seq_out_of_bounds"), events::Log::Error,
"New mission waypoint sequence out of bounds");
}
@@ -707,7 +707,7 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_SET_CURRENT ERROR: busy");
_mavlink->send_statustext_critical("WPM: IGN WP CURR CMD: Busy\t");
_mavlink.send_statustext_critical("WPM: IGN WP CURR CMD: Busy\t");
events::send(events::ID("mavlink_mission_state_busy"), events::Log::Error,
"Mission manager currently busy, ignoring new waypoint index");
}
@@ -768,7 +768,7 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_REQUEST_LIST ERROR: busy");
_mavlink->send_statustext_info("Mission download request ignored, already active\t");
_mavlink.send_statustext_info("Mission download request ignored, already active\t");
events::send(events::ID("mavlink_mission_req_ignored"), events::Log::Warning,
"Mission download request ignored, already active");
}
@@ -843,7 +843,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
switch_to_idle_state();
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t");
_mavlink.send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t");
events::send(events::ID("mavlink_mission_wp_unexpected"), events::Log::Error,
"Unexpected waypoint index, aborting transfer");
return;
@@ -860,7 +860,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
switch_to_idle_state();
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t");
_mavlink.send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t");
events::send(events::ID("mavlink_mission_wp_unexpected2"), events::Log::Error,
"Unexpected waypoint index, aborting mission transfer");
}
@@ -869,18 +869,18 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: no transfer");
// Silently ignore this as some OSDs have buggy mission protocol implementations
//_mavlink->send_statustext_critical("IGN MISSION_ITEM_REQUEST(_INT): No active transfer");
//_mavlink.send_statustext_critical("IGN MISSION_ITEM_REQUEST(_INT): No active transfer");
} else {
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: busy (state %d).", _state);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy\t");
_mavlink.send_statustext_critical("WPM: REJ. CMD: Busy\t");
events::send(events::ID("mavlink_mission_mis_req_ignored_busy"), events::Log::Error,
"Ignoring mission request, currently busy");
}
} else {
_mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch\t");
_mavlink.send_statustext_critical("WPM: REJ. CMD: partner id mismatch\t");
events::send(events::ID("mavlink_mission_partner_id_mismatch2"), events::Log::Error,
"Rejecting mission request command, component or system ID mismatch");
@@ -1000,7 +1000,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy\t");
_mavlink.send_statustext_critical("WPM: REJ. CMD: Busy\t");
events::send(events::ID("mavlink_mission_getlist_busy"), events::Log::Error,
"Mission upload busy, already receiving waypoint");
@@ -1011,7 +1011,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, state %i", _state);
_mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy\t");
_mavlink.send_statustext_critical("WPM: IGN MISSION_COUNT: Busy\t");
events::send(events::ID("mavlink_mission_ignore_mis_count"), events::Log::Error,
"Mission upload busy, ignoring MISSION_COUNT");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
@@ -1088,7 +1088,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_ITEM ERROR: no transfer");
_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer\t");
_mavlink.send_statustext_critical("IGN MISSION_ITEM: No transfer\t");
events::send(events::ID("mavlink_mission_no_transfer"), events::Log::Error,
"Ignoring mission item, no transfer in progress");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
@@ -1099,7 +1099,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_ITEM ERROR: busy, state %i", _state);
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy\t");
_mavlink.send_statustext_critical("IGN MISSION_ITEM: Busy\t");
events::send(events::ID("mavlink_mission_mis_item_busy"), events::Log::Error,
"Ignoring mission item, busy");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
@@ -1113,7 +1113,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
if (ret != PX4_OK) {
PX4_DEBUG("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq);
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Invalid item\t");
_mavlink.send_statustext_critical("IGN MISSION_ITEM: Invalid item\t");
events::send(events::ID("mavlink_mission_mis_item_invalid"), events::Log::Error,
"Ignoring mission item, invalid item");
@@ -1208,7 +1208,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
break;
default:
_mavlink->send_statustext_critical("Received unknown mission type, abort.\t");
_mavlink.send_statustext_critical("Received unknown mission type, abort.\t");
events::send(events::ID("mavlink_mission_unknown_mis_type"), events::Log::Error,
"Received unknown mission type, abort");
break;
@@ -1220,7 +1220,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
if (write_failed) {
_mavlink->send_statustext_critical("Unable to write on micro SD\t");
_mavlink.send_statustext_critical("Unable to write on micro SD\t");
events::send(events::ID("mavlink_mission_storage_failure"), events::Log::Error,
"Mission: unable to write to storage");
}
@@ -1361,7 +1361,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
}
} else {
_mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy\t");
_mavlink.send_statustext_critical("WPM: IGN CLEAR CMD: Busy\t");
events::send(events::ID("mavlink_mission_ignore_clear"), events::Log::Error,
"Ignoring mission clear command, busy");
@@ -1839,7 +1839,7 @@ void MavlinkMissionManager::copy_params_from_mavlink_to_mission_item(struct miss
void MavlinkMissionManager::check_active_mission()
{
// do not send anything over high latency communication
if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) {
if (_mavlink.get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) {
return;
}