yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

mavlink main: remove mission_manager, param manager, ftp & log handler

Browse Source 
Will be moved to the receiver thread
This commit is contained in:
Beat Küng
2017-05-12 14:26:48 +02:00
committed by Lorenz Meier
parent 4105394234
commit 78c1f51f11
2 changed files with 3 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
src/modules/mavlink/mavlink_main.cpp
View File

@@ -194,10 +194,6 @@ Mavlink::Mavlink() :
_main_loop_delay(1000),
_subscriptions(nullptr),
_streams(nullptr),
_mission_manager(nullptr),
_parameters_manager(nullptr),
_mavlink_ftp(nullptr),
_mavlink_log_handler(nullptr),
_mavlink_shell(nullptr),
_mavlink_ulog(nullptr),
_mavlink_ulog_stop_requested(false),
@@ -1234,17 +1230,9 @@ Mavlink::handle_message(const mavlink_message_t *msg)
return;
}
/* handle packet with mission manager */
_mission_manager->handle_message(msg);
/* handle packet with parameter component */
_parameters_manager->handle_message(msg);
/* handle packet with ftp component */
_mavlink_ftp->handle_message(msg);
/* handle packet with log component */
_mavlink_log_handler->handle_message(msg);
/*
* NOTE: this is called from the receiver thread
*/
if (get_forwarding_on()) {
/* forward any messages to other mavlink instances */
@@ -1960,29 +1948,6 @@ Mavlink::task_main(int argc, char *argv[])
}
/* PARAM_VALUE stream */
_parameters_manager = (MavlinkParametersManager *) MavlinkParametersManager::new_instance(this);
_parameters_manager->set_interval(interval_from_rate(300.0f));
LL_APPEND(_streams, _parameters_manager);
/* MAVLINK_FTP stream */
_mavlink_ftp = (MavlinkFTP *) MavlinkFTP::new_instance(this);
_mavlink_ftp->set_interval(interval_from_rate(80.0f));
LL_APPEND(_streams, _mavlink_ftp);
/* MAVLINK_Log_Handler */
_mavlink_log_handler = (MavlinkLogHandler *) MavlinkLogHandler::new_instance(this);
_mavlink_log_handler->set_interval(interval_from_rate(80.0f));
LL_APPEND(_streams, _mavlink_log_handler);
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */
_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
_mission_manager->set_interval(interval_from_rate(10.0f));
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
switch (_mode) {
case MAVLINK_MODE_NORMAL:
configure_stream("SYS_STATUS", 1.0f);
@@ -2145,8 +2110,6 @@ Mavlink::task_main(int argc, char *argv[])
update_rate_mult();
_mission_manager->check_active_mission();
if (param_sub->update(&param_time, nullptr)) {
/* parameters updated */
mavlink_update_system();

8
src/modules/mavlink/mavlink_main.h
View File

@@ -65,10 +65,6 @@
#include "mavlink_orb_subscription.h"
#include "mavlink_stream.h"
#include "mavlink_messages.h"
#include "mavlink_mission.h"
#include "mavlink_parameters.h"
#include "mavlink_ftp.h"
#include "mavlink_log_handler.h"
#include "mavlink_shell.h"
#include "mavlink_ulog.h"
@@ -480,10 +476,6 @@ private:
MavlinkOrbSubscription *_subscriptions;
MavlinkStream *_streams;
MavlinkMissionManager *_mission_manager;
MavlinkParametersManager *_parameters_manager;
MavlinkFTP *_mavlink_ftp;
MavlinkLogHandler *_mavlink_log_handler;
MavlinkShell *_mavlink_shell;
MavlinkULog *_mavlink_ulog;
volatile bool _mavlink_ulog_stop_requested;