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GCS_MAVLink: consolidate places we snprintf statustexts #13245

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Jan 13, 2020
Merged

GCS_MAVLink: consolidate places we snprintf statustexts #13245

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4 changes: 1 addition & 3 deletions libraries/GCS_MAVLink/GCS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,16 +37,14 @@ const MAV_MISSION_TYPE GCS_MAVLINK::supported_mission_types[] = {
*/
void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list)
{
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
hal.util->vsnprintf(text, sizeof(text), fmt, arg_list);
uint8_t mask = GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask();
if (!update_send_has_been_called) {
// we have not yet initialised the streaming-channel-mask,
// which is done as part of the update() call. So just send
// it to all channels:
mask = (1<<_num_gcs)-1;
}
send_statustext(severity, mask, text);
send_textv(severity, fmt, arg_list, mask);
}

void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
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5 changes: 3 additions & 2 deletions libraries/GCS_MAVLink/GCS.h
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Expand Up @@ -838,8 +838,8 @@ class GCS

void send_text(MAV_SEVERITY severity, const char *fmt, ...) FMT_PRINTF(3, 4);
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list);
virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
void service_statustext(void);
virtual void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t mask);

virtual GCS_MAVLINK *chan(const uint8_t ofs) = 0;
virtual const GCS_MAVLINK *chan(const uint8_t ofs) const = 0;
// return the number of valid GCS objects
Expand Down Expand Up @@ -938,6 +938,7 @@ class GCS

void update_sensor_status_flags();

void service_statustext(void);
#if HAL_MEM_CLASS <= HAL_MEM_CLASS_192 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
static const uint8_t _status_capacity = 5;
#else
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11 changes: 5 additions & 6 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -600,12 +600,10 @@ void GCS_MAVLINK::handle_param_value(const mavlink_message_t &msg)

void GCS_MAVLINK::send_text(MAV_SEVERITY severity, const char *fmt, ...) const
{
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
va_list arg_list;
va_start(arg_list, fmt);
hal.util->vsnprintf(text, sizeof(text), fmt, arg_list);
gcs().send_textv(severity, fmt, arg_list, (1<<chan));
va_end(arg_list);
gcs().send_statustext(severity, (1<<chan), text);
}

void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_radio)
Expand Down Expand Up @@ -1762,13 +1760,14 @@ void GCS_MAVLINK::send_ahrs()
/*
send a statustext text string to specific MAVLink bitmask
*/
void GCS::send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text)
void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t dest_bitmask)
{
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
if (hal.util->vsnprintf(text, sizeof(text), fmt, arg_list) > MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (strlen(text) > MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN) {
AP_HAL::panic("Statustext (%s) too long", text);
}
#endif
}

AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr) {
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5 changes: 4 additions & 1 deletion libraries/GCS_MAVLink/GCS_Dummy.h
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Expand Up @@ -85,7 +85,10 @@ class GCS_Dummy : public GCS
return (GCS_MAVLINK_Dummy *)_chan[ofs];
};

void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) override { hal.console->printf("TOGCS: %s\n", text); }
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t dest_bitmask) override {
hal.console->printf("TOGCS: ");
hal.console->vprintf(fmt, arg_list);
}

MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
uint32_t custom_mode() const override { return 3; } // magic number
Expand Down