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Create Simulator::set_publish() method and Simulator::_publish member variable to allow redefinition of the Simulator::handle_message() prototype to match MavlinkReceiver::handle_message().

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This commit is contained in:
mcsauder
2019-02-28 13:47:36 -07:00
committed by Beat Küng
parent 1221556515
commit 6e0fc150c0
3 changed files with 23 additions and 12 deletions
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23
src/modules/simulator/simulator_mavlink.cpp
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@@ -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, bool publish)
void Simulator::handle_message(mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_HIL_SENSOR: {
@@ -318,7 +318,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
last_time = now_us;
#endif
if (publish) {
if (_publish) {
publish_sensor_topics(&imu);
}
@@ -373,7 +373,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
mavlink_hil_gps_t gps_sim;
mavlink_msg_hil_gps_decode(msg, &gps_sim);
if (publish) {
if (_publish) {
//PX4_WARN("FIXME: Need to publish GPS topic. Not done yet.");
}
@@ -386,7 +386,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
fill_rc_input_msg(&_rc_input, &rc_channels);
// publish message
if (publish) {
if (_publish) {
int rc_multi;
orb_publish_auto(ORB_ID(input_rc), &_rc_channels_pub, &_rc_input, &rc_multi, ORB_PRIO_HIGH);
}
@@ -402,7 +402,6 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
handle_message_hil_state_quaternion(msg);
break;
}
}
void Simulator::handle_message_distance_sensor(const mavlink_message_t *msg)
@@ -664,7 +663,7 @@ void Simulator::initialize_sensor_data()
write_airspeed_data(&airspeed);
}
void Simulator::poll_for_MAVLink_messages(bool publish)
void Simulator::poll_for_MAVLink_messages()
{
#ifdef __PX4_DARWIN
pthread_setname_np("sim_rcv");
@@ -818,7 +817,7 @@ void Simulator::poll_for_MAVLink_messages(bool publish)
for (int i = 0; i < len; i++) {
if (mavlink_parse_char(MAVLINK_COMM_0, _buf[i], &msg, &mavlink_status)) {
handle_message(&msg, publish);
handle_message(&msg);
}
}
}
@@ -838,7 +837,8 @@ void Simulator::poll_for_MAVLink_messages(bool publish)
for (int i = 0; i < len; ++i) {
if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &serial_status)) {
// have a message, handle it
handle_message(&msg, true);
set_publish(true);
handle_message(&msg);
}
}
}
@@ -846,6 +846,8 @@ void Simulator::poll_for_MAVLink_messages(bool publish)
#endif
}
set_publish(false);
}
@@ -1214,3 +1216,8 @@ int Simulator::publish_distance_topic(mavlink_distance_sensor_t *dist_mavlink)
return OK;
}
void Simulator::set_publish(const bool publish)
{
_publish = publish;
}