From d12cec81baaa8bf1650327f78aa542d73e0c5bdd Mon Sep 17 00:00:00 2001 From: mcsauder Date: Wed, 6 Mar 2019 09:06:22 -0700 Subject: [PATCH] Add const specifier to remaining methods utilizing mavlink_message_t and similar message pointer types. --- src/modules/simulator/simulator.h | 12 ++++++------ src/modules/simulator/simulator_mavlink.cpp | 12 ++++++------ 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h index 1dad4e9dcf..67d4a20c1e 100644 --- a/src/modules/simulator/simulator.h +++ b/src/modules/simulator/simulator.h @@ -274,10 +274,10 @@ private: // class methods void initialize_sensor_data(); - int publish_sensor_topics(mavlink_hil_sensor_t *imu); - int publish_flow_topic(mavlink_hil_optical_flow_t *flow); + int publish_sensor_topics(const mavlink_hil_sensor_t *imu); + int publish_flow_topic(const mavlink_hil_optical_flow_t *flow); int publish_odometry_topic(const mavlink_message_t *odom_mavlink); - int publish_distance_topic(mavlink_distance_sensor_t *dist); + int publish_distance_topic(const mavlink_distance_sensor_t *dist); static Simulator *_instance; @@ -330,7 +330,7 @@ private: mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators); - void handle_message(mavlink_message_t *msg); + void handle_message(const mavlink_message_t *msg); void handle_message_distance_sensor(const mavlink_message_t *msg); void handle_message_hil_gps(const mavlink_message_t *msg); void handle_message_hil_sensor(const mavlink_message_t *msg); @@ -350,8 +350,8 @@ private: void send_heartbeat(); void send_mavlink_message(const mavlink_message_t &aMsg); void set_publish(const bool publish = true); - void update_sensors(mavlink_hil_sensor_t *imu); - void update_gps(mavlink_hil_gps_t *gps_sim); + void update_sensors(const mavlink_hil_sensor_t *imu); + void update_gps(const mavlink_hil_gps_t *gps_sim); static void *sending_trampoline(void *); diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 6f6212141d..91023819be 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -220,7 +220,7 @@ static void fill_rc_input_msg(input_rc_s *rc, mavlink_rc_channels_t *rc_channels rc->values[17] = rc_channels->chan18_raw; } -void Simulator::update_sensors(mavlink_hil_sensor_t *imu) +void Simulator::update_sensors(const mavlink_hil_sensor_t *imu) { // write sensor data to memory so that drivers can copy data from there RawMPUData mpu = {}; @@ -269,7 +269,7 @@ void Simulator::update_sensors(mavlink_hil_sensor_t *imu) write_airspeed_data(&airspeed); } -void Simulator::update_gps(mavlink_hil_gps_t *gps_sim) +void Simulator::update_gps(const mavlink_hil_gps_t *gps_sim) { RawGPSData gps = {}; gps.timestamp = hrt_absolute_time(); @@ -289,7 +289,7 @@ void Simulator::update_gps(mavlink_hil_gps_t *gps_sim) write_gps_data((void *)&gps); } -void Simulator::handle_message(mavlink_message_t *msg) +void Simulator::handle_message(const mavlink_message_t *msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_HIL_SENSOR: @@ -970,7 +970,7 @@ int openUart(const char *uart_name, int baud) } #endif -int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu) +int Simulator::publish_sensor_topics(const mavlink_hil_sensor_t *imu) { uint64_t timestamp = hrt_absolute_time(); @@ -1065,7 +1065,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu) return OK; } -int Simulator::publish_flow_topic(mavlink_hil_optical_flow_t *flow_mavlink) +int Simulator::publish_flow_topic(const mavlink_hil_optical_flow_t *flow_mavlink) { uint64_t timestamp = hrt_absolute_time(); @@ -1220,7 +1220,7 @@ int Simulator::publish_odometry_topic(const mavlink_message_t *odom_mavlink) return OK; } -int Simulator::publish_distance_topic(mavlink_distance_sensor_t *dist_mavlink) +int Simulator::publish_distance_topic(const mavlink_distance_sensor_t *dist_mavlink) { uint64_t timestamp = hrt_absolute_time();