From ce5fbc7751d2fb98fe2b69e517c3d7b2cf1afbc3 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 20 Jan 2019 16:16:54 -0500
Subject: [PATCH] mavlink simple analyzer remove <limits> usage
- <limits> isn't available in the NuttX c++ standard library
---
src/modules/mavlink/mavlink_high_latency2.cpp | 13 +++----
.../mavlink/mavlink_simple_analyzer.cpp | 26 ++++++++++++++
src/modules/mavlink/mavlink_simple_analyzer.h | 34 +++++++++----------
3 files changed, 46 insertions(+), 27 deletions(-)
diff --git a/src/modules/mavlink/mavlink_high_latency2.cpp b/src/modules/mavlink/mavlink_high_latency2.cpp
index a60cc9e22f..7b9074f1dc 100644
--- a/src/modules/mavlink/mavlink_high_latency2.cpp
+++ b/src/modules/mavlink/mavlink_high_latency2.cpp
@@ -138,9 +138,7 @@ bool MavlinkStreamHighLatency2::send(const hrt_abstime t)
updated |= write_wind_estimate(&msg);
if (updated) {
- uint32_t timestamp;
- convert_limit_safe(t / 1000, timestamp);
- msg.timestamp = timestamp;
+ msg.timestamp = t / 1000;
msg.type = _mavlink->get_system_type();
msg.autopilot = MAV_AUTOPILOT_PX4;
@@ -317,13 +315,10 @@ bool MavlinkStreamHighLatency2::write_global_position(mavlink_high_latency2_t *m
const bool updated = _global_pos_sub->update(&_global_pos_time, &global_pos);
if (_global_pos_time > 0) {
- int32_t latitude, longitude;
- convert_limit_safe(global_pos.lat * 1e7, latitude);
- convert_limit_safe(global_pos.lon * 1e7, longitude);
- msg->latitude = latitude;
- msg->longitude = longitude;
+ msg->latitude = global_pos.lat * 1e7;
+ msg->longitude = global_pos.lon * 1e7;
- int16_t altitude;
+ int16_t altitude = 0;
if (global_pos.alt > 0) {
convert_limit_safe(global_pos.alt + 0.5f, altitude);
diff --git a/src/modules/mavlink/mavlink_simple_analyzer.cpp b/src/modules/mavlink/mavlink_simple_analyzer.cpp
index 670af116fe..b49fce369c 100644
--- a/src/modules/mavlink/mavlink_simple_analyzer.cpp
+++ b/src/modules/mavlink/mavlink_simple_analyzer.cpp
@@ -146,3 +146,29 @@ void SimpleAnalyzer::int_round(float &x) const
x += 0.5f;
}
}
+
+void convert_limit_safe(float in, uint16_t &out)
+{
+ if (in > UINT16_MAX) {
+ out = UINT16_MAX;
+
+ } else if (in < 0) {
+ out = 0;
+
+ } else {
+ out = static_cast<uint16_t>(in);
+ }
+}
+
+void convert_limit_safe(float in, int16_t &out)
+{
+ if (in > INT16_MAX) {
+ out = INT16_MAX;
+
+ } else if (in < INT16_MIN) {
+ out = INT16_MIN;
+
+ } else {
+ out = static_cast<int16_t>(in);
+ }
+}
diff --git a/src/modules/mavlink/mavlink_simple_analyzer.h b/src/modules/mavlink/mavlink_simple_analyzer.h
index 57d43436d1..d02423fae0 100644
--- a/src/modules/mavlink/mavlink_simple_analyzer.h
+++ b/src/modules/mavlink/mavlink_simple_analyzer.h
@@ -39,7 +39,8 @@
#pragma once
-#include <limits>
+#include <float.h>
+#include <stdint.h>
/**
* SimpleAnalyzer
@@ -115,14 +116,22 @@ public:
* @param[out] ret: The scaled and rounded value of the current analyzer result.
* @parma[in] scalingfactor: The factor which is used to scale the result.
*/
- template <typename T>
- void get_scaled(T &ret, float scalingfactor) const
+ void get_scaled(uint8_t &ret, float scalingfactor) const
{
float avg = get_scaled(scalingfactor);
int_round(avg);
- check_limits(avg, std::numeric_limits<T>::min(), std::numeric_limits<T>::max());
+ check_limits(avg, 0, UINT8_MAX);
- ret = static_cast<T>(avg);
+ ret = static_cast<uint8_t>(avg);
+ }
+
+ void get_scaled(int8_t &ret, float scalingfactor) const
+ {
+ float avg = get_scaled(scalingfactor);
+ int_round(avg);
+ check_limits(avg, INT8_MIN, INT8_MAX);
+
+ ret = static_cast<int8_t>(avg);
}
private:
@@ -135,16 +144,5 @@ private:
void int_round(float &x) const;
};
-template<typename Tin, typename Tout>
-void convert_limit_safe(Tin in, Tout &out)
-{
- if (in > std::numeric_limits<Tout>::max()) {
- out = std::numeric_limits<Tout>::max();
-
- } else if (in < std::numeric_limits<Tout>::min()) {
- out = std::numeric_limits<Tout>::min();
-
- } else {
- out = static_cast<Tout>(in);
- }
-}
+void convert_limit_safe(float in, uint16_t &out);
+void convert_limit_safe(float in, int16_t &out);
--
GitLab