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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_parameters.cpp
+14 -14
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@@ -46,7 +46,7 @@
#include "mavlink_main.h"
#include <lib/systemlib/mavlink_log.h>
MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) :
MavlinkParametersManager::MavlinkParametersManager(Mavlink &mavlink) :
_mavlink(mavlink)
{
}
@@ -111,7 +111,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
/* Whatever the value is, we're being told to stop sending */
if (strncmp(name, "_HASH_CHECK", sizeof(name)) == 0) {
if (_mavlink->hash_check_enabled()) {
if (_mavlink.hash_check_enabled()) {
_send_all_index = -1;
}
@@ -189,7 +189,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
strncpy(param_value.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
param_value.param_type = MAV_PARAM_TYPE_UINT32;
memcpy(&param_value.param_value, &hash, sizeof(hash));
mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &param_value);
mavlink_msg_param_value_send_struct(_mavlink.get_channel(), &param_value);
} else {
/* local name buffer to enforce null-terminated string */
@@ -249,7 +249,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
size_t i = map_rc.parameter_rc_channel_index;
if (i >= sizeof(_rc_param_map.param_index) / sizeof(_rc_param_map.param_index[0])) {
mavlink_log_warning(_mavlink->get_mavlink_log_pub(), "parameter_rc_channel_index out of bounds\t");
mavlink_log_warning(_mavlink.get_mavlink_log_pub(), "parameter_rc_channel_index out of bounds\t");
events::send(events::ID("mavlink_param_rc_chan_out_of_bounds"), events::Log::Warning,
"parameter_rc_channel_index out of bounds");
break;
@@ -319,7 +319,7 @@ MavlinkParametersManager::send()
int max_num_to_send;
if (_mavlink->get_protocol() == Protocol::SERIAL && !_mavlink->is_usb_uart()) {
if (_mavlink.get_protocol() == Protocol::SERIAL && !_mavlink.is_usb_uart()) {
max_num_to_send = 3;
} else {
@@ -330,7 +330,7 @@ MavlinkParametersManager::send()
int i = 0;
// Send while burst is not exceeded, we still have buffer space and still something to send
while ((i++ < max_num_to_send) && (_mavlink->get_free_tx_buf() >= get_size()) && !_mavlink->radio_status_critical()
while ((i++ < max_num_to_send) && (_mavlink.get_free_tx_buf() >= get_size()) && !_mavlink.radio_status_critical()
&& send_params()) {}
}
@@ -394,7 +394,7 @@ MavlinkParametersManager::send_untransmitted()
break;
}
}
} while ((_mavlink->get_free_tx_buf() >= get_size()) && !_mavlink->radio_status_critical()
} while ((_mavlink.get_free_tx_buf() >= get_size()) && !_mavlink.radio_status_critical()
&& (_param_update_index < (int) param_count()));
// Flag work as done once all params have been sent
@@ -426,7 +426,7 @@ MavlinkParametersManager::send_one()
strncpy(msg.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
msg.param_type = MAV_PARAM_TYPE_UINT32;
memcpy(&msg.param_value, &hash, sizeof(hash));
mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &msg);
mavlink_msg_param_value_send_struct(_mavlink.get_channel(), &msg);
/* after this we should start sending all params */
_send_all_index = 0;
@@ -468,7 +468,7 @@ MavlinkParametersManager::send_param(param_t param, int component_id)
}
/* no free TX buf to send this param */
if (_mavlink->get_free_tx_buf() < MAVLINK_MSG_ID_PARAM_VALUE_LEN) {
if (_mavlink.get_free_tx_buf() < MAVLINK_MSG_ID_PARAM_VALUE_LEN) {
return 1;
}
@@ -535,13 +535,13 @@ MavlinkParametersManager::send_param(param_t param, int component_id)
/* default component ID */
if (component_id < 0) {
mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &msg);
mavlink_msg_param_value_send_struct(_mavlink.get_channel(), &msg);
} else {
// Re-pack the message with a different component ID
mavlink_message_t mavlink_packet;
mavlink_msg_param_value_encode_chan(mavlink_system.sysid, component_id, _mavlink->get_channel(), &mavlink_packet, &msg);
_mavlink_resend_uart(_mavlink->get_channel(), &mavlink_packet);
mavlink_msg_param_value_encode_chan(mavlink_system.sysid, component_id, _mavlink.get_channel(), &mavlink_packet, &msg);
_mavlink_resend_uart(_mavlink.get_channel(), &mavlink_packet);
}
return 0;
@@ -595,9 +595,9 @@ bool MavlinkParametersManager::send_uavcan()
// Re-pack the message with the UAVCAN node ID
mavlink_message_t mavlink_packet{};
mavlink_msg_param_value_encode_chan(mavlink_system.sysid, value.node_id, _mavlink->get_channel(), &mavlink_packet,
mavlink_msg_param_value_encode_chan(mavlink_system.sysid, value.node_id, _mavlink.get_channel(), &mavlink_packet,
&msg);
_mavlink_resend_uart(_mavlink->get_channel(), &mavlink_packet);
_mavlink_resend_uart(_mavlink.get_channel(), &mavlink_packet);
return true;
}