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Rover: have GCS_MAVLink_Rover unfriend Rover #12073

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Rover: have GCS_MAVLink_Rover unfriend Rover #12073

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d83eb73
GCS_MAVLink: provide method to get channel parameters
peterbarker Aug 16, 2019
765fd2d
Rover: use method to get channel parameters
peterbarker Aug 16, 2019
91f8959
Rover: GCS_Rover: move all members into being protected
peterbarker Jun 26, 2019
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5 changes: 1 addition & 4 deletions APMrover2/GCS_Rover.h
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Expand Up @@ -5,9 +5,8 @@

class GCS_Rover : public GCS
{
friend class Rover; // for access to _chan in parameter declarations

public:
protected:

// return GCS link at offset ofs
GCS_MAVLINK_Rover *chan(const uint8_t ofs) override {
Expand Down Expand Up @@ -36,8 +35,6 @@ class GCS_Rover : public GCS
bool simple_input_active() const override;
bool supersimple_input_active() const override;

protected:

GCS_MAVLINK_Rover *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
AP_HAL::UARTDriver &uart) override {
return new GCS_MAVLINK_Rover(params, uart);
Expand Down
8 changes: 4 additions & 4 deletions APMrover2/Parameters.cpp
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Expand Up @@ -252,19 +252,19 @@ const AP_Param::Info Rover::var_info[] = {

// @Group: SR0_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[0], gcs0, "SR0_", GCS_MAVLINK_Parameters),
GOBJECTN(_gcs.chan_params_ref(0), gcs0, "SR0_", GCS_MAVLINK_Parameters),

// @Group: SR1_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[1], gcs1, "SR1_", GCS_MAVLINK_Parameters),
GOBJECTN(_gcs.chan_params_ref(1), gcs1, "SR1_", GCS_MAVLINK_Parameters),

// @Group: SR2_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[2], gcs2, "SR2_", GCS_MAVLINK_Parameters),
GOBJECTN(_gcs.chan_params_ref(2), gcs2, "SR2_", GCS_MAVLINK_Parameters),

// @Group: SR3_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[3], gcs3, "SR3_", GCS_MAVLINK_Parameters),
GOBJECTN(_gcs.chan_params_ref(3), gcs3, "SR3_", GCS_MAVLINK_Parameters),

// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
Expand Down
10 changes: 10 additions & 0 deletions libraries/GCS_MAVLink/GCS.h
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Expand Up @@ -719,6 +719,10 @@ class GCS
void service_statustext(void);
virtual GCS_MAVLINK *chan(const uint8_t ofs) = 0;
virtual const GCS_MAVLINK *chan(const uint8_t ofs) const = 0;

const GCS_MAVLINK_Parameters &chan_params_ref(const uint8_t ofs) const {
return chan_parameters[ofs];
};
// return the number of valid GCS objects
uint8_t num_gcs() const { return _num_gcs; };
void send_message(enum ap_message id);
Expand Down Expand Up @@ -782,6 +786,12 @@ class GCS
virtual void update_vehicle_sensor_status_flags() {}

GCS_MAVLINK_Parameters chan_parameters[MAVLINK_COMM_NUM_BUFFERS];
// The Parameters.cpp files call _gcs.chan_params_ref which
// returns a reference with no bounds checking. So do some
// checking here.
static_assert(ARRAY_SIZE(chan_parameters) >= 4,
"chan_parameters safe to accomodate up to SR3_");

uint8_t _num_gcs;
GCS_MAVLINK *_chan[MAVLINK_COMM_NUM_BUFFERS];

Expand Down