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mavlink_receiver: put all message handling in the same function

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Matthias Grob
2024-06-05 16:13:52 +02:00
parent 157f7cf40b
commit 9a7a977625
1 changed files with 29 additions and 34 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+29 -34
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@@ -376,9 +376,34 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
} }
/* If we've received a valid message, mark the flag indicating so. /* handle packet with mission manager */
This is used in the '-w' command-line flag. */ _mission_manager.handle_message(msg);
_mavlink->set_has_received_messages(true);
/* handle packet with parameter component */
if (_mavlink->boot_complete()) {
// make sure mavlink app has booted before we start processing parameter sync
_parameters_manager.handle_message(msg);
} else {
if (hrt_elapsed_time(&_mavlink->get_first_start_time()) > 20_s) {
PX4_ERR("system boot did not complete in 20 seconds");
_mavlink->set_boot_complete();
}
}
if (_mavlink->ftp_enabled()) {
/* handle packet with ftp component */
_mavlink_ftp.handle_message(msg);
}
/* handle packet with log component */
_mavlink_log_handler.handle_message(msg);
/* handle packet with timesync component */
_mavlink_timesync.handle_message(msg);
/* handle packet with parent object */
_mavlink->handle_message(msg);
} }
bool bool
@@ -3142,38 +3167,8 @@ MavlinkReceiver::run()
_mavlink->set_proto_version(2); _mavlink->set_proto_version(2);
} }
/* handle generic messages and commands */
handle_message(&msg); handle_message(&msg);
_mavlink->set_has_received_messages(true); // Received first message, unlock wait to transmit '-w' command-line flag
/* handle packet with mission manager */
_mission_manager.handle_message(&msg);
/* handle packet with parameter component */
if (_mavlink->boot_complete()) {
// make sure mavlink app has booted before we start processing parameter sync
_parameters_manager.handle_message(&msg);
} else {
if (hrt_elapsed_time(&_mavlink->get_first_start_time()) > 20_s) {
PX4_ERR("system boot did not complete in 20 seconds");
_mavlink->set_boot_complete();
}
}
if (_mavlink->ftp_enabled()) {
/* handle packet with ftp component */
_mavlink_ftp.handle_message(&msg);
}
/* handle packet with log component */
_mavlink_log_handler.handle_message(&msg);
/* handle packet with timesync component */
_mavlink_timesync.handle_message(&msg);
/* handle packet with parent object */
_mavlink->handle_message(&msg);
update_rx_stats(msg); update_rx_stats(msg);
if (_message_statistics_enabled) { if (_message_statistics_enabled) {