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AP_MSP: cleanup namespace handling 

using "using namespace MSP" in headers is a bad idea as it spreads to
lots of cpp via includes. It is fine in a cpp file
zr-v5.1
Andrew Tridgell 5 years ago
parent
3517ab9c45
commit
d8ed210b98
8 changed files with 56 additions and 50 deletions
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  1. 2
      libraries/AP_MSP/AP_MSP.cpp
  2. 8
      libraries/AP_MSP/AP_MSP.h
  3. 10
      libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
  4. 60
      libraries/AP_MSP/AP_MSP_Telem_Backend.h
  5. 4
      libraries/AP_MSP/AP_MSP_Telem_DJI.cpp
  6. 8
      libraries/AP_MSP/AP_MSP_Telem_DJI.h
  7. 4
      libraries/AP_MSP/AP_MSP_Telem_Generic.cpp
  8. 10
      libraries/AP_MSP/AP_MSP_Telem_Generic.h

2
libraries/AP_MSP/AP_MSP.cpp
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@ -28,6 +28,8 @@ @@ -28,6 +28,8 @@
const uint16_t OSD_FLIGHT_MODE_FOCUS_TIME = 2000;
extern const AP_HAL::HAL& hal;
using namespace MSP;
const AP_Param::GroupInfo AP_MSP::var_info[] = {
// @Param: _OSD_NCELLS

8
libraries/AP_MSP/AP_MSP.h
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@ -31,8 +31,6 @@ @@ -31,8 +31,6 @@
#define MSP_OSD_STEP_Y 32
#define MSP_OSD_POS(osd_setting) (MSP_OSD_START + osd_setting->xpos*MSP_OSD_STEP_X + osd_setting->ypos*MSP_OSD_STEP_Y)
using namespace MSP;
class AP_MSP
{
friend class AP_MSP_Telem_Generic;
@ -71,8 +69,8 @@ private: @@ -71,8 +69,8 @@ private:
AP_Int8 _cellcount;
// these are the osd items we support for MSP OSD
AP_OSD_Setting* _osd_item_settings[OSD_ITEM_COUNT];
osd_config_t _osd_config;
AP_OSD_Setting* _osd_item_settings[MSP::OSD_ITEM_COUNT];
MSP::osd_config_t _osd_config;
struct {
bool flashing_on; // OSD item flashing support
@ -96,4 +94,4 @@ namespace AP @@ -96,4 +94,4 @@ namespace AP
AP_MSP *msp();
};
#endif //HAL_MSP_ENABLED
#endif //HAL_MSP_ENABLED

10
libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
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@ -38,6 +38,8 @@ @@ -38,6 +38,8 @@
extern const AP_HAL::HAL& hal;
constexpr uint8_t AP_MSP_Telem_Backend::arrows[8];
using namespace MSP;
AP_MSP_Telem_Backend::AP_MSP_Telem_Backend(AP_HAL::UARTDriver *uart) : AP_RCTelemetry(MSP_TIME_SLOT_MAX)
{
_msp_port.uart = uart;
@ -464,12 +466,12 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_sensor_command(uint16_t cmd_m @@ -464,12 +466,12 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_sensor_command(uint16_t cmd_m
switch (cmd_msp) {
case MSP2_SENSOR_RANGEFINDER: {
const msp_rangefinder_sensor_t pkt = *(const msp_rangefinder_sensor_t *)src->ptr;
const MSP::msp_rangefinder_sensor_t pkt = *(const MSP::msp_rangefinder_sensor_t *)src->ptr;
msp_handle_rangefinder(pkt);
}
break;
case MSP2_SENSOR_OPTIC_FLOW: {
const msp_opflow_sensor_t pkt = *(const msp_opflow_sensor_t *)src->ptr;
const MSP::msp_opflow_sensor_t pkt = *(const MSP::msp_opflow_sensor_t *)src->ptr;
msp_handle_opflow(pkt);
}
break;
@ -478,7 +480,7 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_sensor_command(uint16_t cmd_m @@ -478,7 +480,7 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_sensor_command(uint16_t cmd_m
return MSP_RESULT_NO_REPLY;
}
void AP_MSP_Telem_Backend::msp_handle_opflow(const msp_opflow_sensor_t &pkt)
void AP_MSP_Telem_Backend::msp_handle_opflow(const MSP::msp_opflow_sensor_t &pkt)
{
OpticalFlow *optflow = AP::opticalflow();
if (optflow == nullptr) {
@ -487,7 +489,7 @@ void AP_MSP_Telem_Backend::msp_handle_opflow(const msp_opflow_sensor_t &pkt) @@ -487,7 +489,7 @@ void AP_MSP_Telem_Backend::msp_handle_opflow(const msp_opflow_sensor_t &pkt)
optflow->handle_msp(pkt);
}
void AP_MSP_Telem_Backend::msp_handle_rangefinder(const msp_rangefinder_sensor_t &pkt)
void AP_MSP_Telem_Backend::msp_handle_rangefinder(const MSP::msp_rangefinder_sensor_t &pkt)
{
#if HAL_MSP_RANGEFINDER_ENABLED
RangeFinder *rangefinder = AP::rangefinder();

60
libraries/AP_MSP/AP_MSP_Telem_Backend.h
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@ -29,8 +29,6 @@ @@ -29,8 +29,6 @@
#define MSP_TXT_BUFFER_SIZE 15U // 11 + 3 utf8 chars + terminator
#define MSP_TXT_VISIBLE_CHARS 11U
using namespace MSP;
class AP_MSP;
class AP_MSP_Telem_Backend : AP_RCTelemetry
@ -44,7 +42,7 @@ public: @@ -44,7 +42,7 @@ public:
float batt_voltage_v;
int32_t batt_capacity_mah;
uint8_t batt_cellcount;
battery_state_e batt_state;
MSP::battery_state_e batt_state;
} battery_state_t;
typedef struct PACKED gps_state_s {
@ -133,17 +131,17 @@ protected: @@ -133,17 +131,17 @@ protected:
uint64_t osd_hidden_items_bitmask;
// MSP decoder status
msp_port_t _msp_port;
MSP::msp_port_t _msp_port;
// passthrough WFQ scheduler
bool is_packet_ready(uint8_t idx, bool queue_empty) override;
void process_packet(uint8_t idx) override;
void adjust_packet_weight(bool queue_empty) override {};
void adjust_packet_weight(bool queue_empty) override {}
void setup_wfq_scheduler(void) override;
bool get_next_msg_chunk(void) override
{
return true;
};
}
// telemetry helpers
uint8_t calc_cell_count(float battery_voltage);
@ -156,40 +154,42 @@ protected: @@ -156,40 +154,42 @@ protected:
// MSP parsing
void msp_process_received_command();
MSPCommandResult msp_process_command(msp_packet_t *cmd, msp_packet_t *reply);
MSPCommandResult msp_process_sensor_command(uint16_t cmd_msp, sbuf_t *src);
MSPCommandResult msp_process_out_command(uint16_t cmd_msp, sbuf_t *dst);
MSP::MSPCommandResult msp_process_command(MSP::msp_packet_t *cmd, MSP::msp_packet_t *reply);
MSP::MSPCommandResult msp_process_sensor_command(uint16_t cmd_msp, MSP::sbuf_t *src);
MSP::MSPCommandResult msp_process_out_command(uint16_t cmd_msp, MSP::sbuf_t *dst);
// MSP sensor command processing
void msp_handle_opflow(const msp_opflow_sensor_t &pkt);
void msp_handle_rangefinder(const msp_rangefinder_sensor_t &pkt);
void msp_handle_opflow(const MSP::msp_opflow_sensor_t &pkt);
void msp_handle_rangefinder(const MSP::msp_rangefinder_sensor_t &pkt);
// implementation specific helpers
// custom masks are needed for vendor specific settings
virtual uint32_t get_osd_flight_mode_bitmask(void)
{
return 0;
}; // custom masks are needed for vendor specific settings
}
virtual bool is_scheduler_enabled() = 0; // only osd backends should allow a push type telemetry
// implementation specific MSP out command processing
virtual MSPCommandResult msp_process_out_api_version(sbuf_t *dst) = 0;
virtual MSPCommandResult msp_process_out_fc_version(sbuf_t *dst) = 0;
virtual MSPCommandResult msp_process_out_fc_variant(sbuf_t *dst) = 0;
virtual MSPCommandResult msp_process_out_uid(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_board_info(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_build_info(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_name(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_status(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_osd_config(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_raw_gps(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_comp_gps(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_attitude(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_altitude(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_analog(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_battery_state(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_esc_sensor_data(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_rtc(sbuf_t *dst);
virtual MSPCommandResult msp_process_out_rc(sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) = 0;
virtual MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) = 0;
virtual MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) = 0;
virtual MSP::MSPCommandResult msp_process_out_uid(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_board_info(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_build_info(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_name(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_status(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_osd_config(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_raw_gps(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_comp_gps(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_attitude(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_altitude(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_analog(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_battery_state(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_esc_sensor_data(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_rtc(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_rc(MSP::sbuf_t *dst);
};
#endif //HAL_MSP_ENABLED

4
libraries/AP_MSP/AP_MSP_Telem_DJI.cpp
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@ -22,6 +22,8 @@ @@ -22,6 +22,8 @@
#if HAL_MSP_ENABLED
extern const AP_HAL::HAL& hal;
using namespace MSP;
bool AP_MSP_Telem_DJI::init_uart()
{
if (_msp_port.uart != nullptr) {
@ -102,4 +104,4 @@ MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_variant(sbuf_t *dst) @@ -102,4 +104,4 @@ MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_variant(sbuf_t *dst)
return MSP_RESULT_ACK;
}
#endif //HAL_MSP_ENABLED
#endif //HAL_MSP_ENABLED

8
libraries/AP_MSP/AP_MSP_Telem_DJI.h
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@ -54,9 +54,9 @@ public: @@ -54,9 +54,9 @@ public:
bool is_scheduler_enabled() override;
uint32_t get_osd_flight_mode_bitmask(void) override;
void hide_osd_items(void) override;
MSPCommandResult msp_process_out_api_version(sbuf_t *dst) override;
MSPCommandResult msp_process_out_fc_version(sbuf_t *dst) override;
MSPCommandResult msp_process_out_fc_variant(sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
enum : uint8_t {
DJI_FLAG_ARM = 0,
@ -68,4 +68,4 @@ public: @@ -68,4 +68,4 @@ public:
};
};
#endif //HAL_MSP_ENABLED
#endif //HAL_MSP_ENABLED

4
libraries/AP_MSP/AP_MSP_Telem_Generic.cpp
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@ -23,6 +23,8 @@ @@ -23,6 +23,8 @@
extern const AP_HAL::HAL& hal;
using namespace MSP;
MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_api_version(sbuf_t *dst)
{
sbuf_write_u8(dst, MSP_PROTOCOL_VERSION);
@ -45,4 +47,4 @@ MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_fc_variant(sbuf_t *dst) @@ -45,4 +47,4 @@ MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_fc_variant(sbuf_t *dst)
return MSP_RESULT_ACK;
}
#endif //HAL_MSP_ENABLED
#endif //HAL_MSP_ENABLED

10
libraries/AP_MSP/AP_MSP_Telem_Generic.h
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@ -27,10 +27,10 @@ public: @@ -27,10 +27,10 @@ public:
bool is_scheduler_enabled() override
{
return false;
};
MSPCommandResult msp_process_out_api_version(sbuf_t *dst) override;
MSPCommandResult msp_process_out_fc_version(sbuf_t *dst) override;
MSPCommandResult msp_process_out_fc_variant(sbuf_t *dst) override;
}
MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
};
#endif //HAL_MSP_ENABLED
#endif //HAL_MSP_ENABLED

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