Convert to pack/encode_chan apis

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -211,7 +211,7 @@ int APMFirmwarePlugin::manualControlReservedButtonCount(void)
     return -1;
 }
 
-void APMFirmwarePlugin::_handleParamValue(Vehicle* vehicle, mavlink_message_t* message)
+void APMFirmwarePlugin::_handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message)
 {
     Q_UNUSED(vehicle);
 
@@ -301,7 +301,7 @@ void APMFirmwarePlugin::_handleOutgoingParamSet(Vehicle* vehicle, LinkInterface*
     mavlink_msg_param_set_encode_chan(message->sysid, message->compid, outgoingLink->mavlinkChannel(), message, &paramSet);
 }
 
-bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* message)
+bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message)
 {
     QString messageText;
 
@@ -410,7 +410,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
     return true;
 }
 
-void APMFirmwarePlugin::_handleHeartbeat(Vehicle* vehicle, mavlink_message_t* message)
+void APMFirmwarePlugin::_handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message)
 {
     bool flying = false;
 
@@ -439,12 +439,12 @@ bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_m
 
     switch (message->msgid) {
     case MAVLINK_MSG_ID_PARAM_VALUE:
-        _handleParamValue(vehicle, message);
+        _handleIncomingParamValue(vehicle, message);
         break;
     case MAVLINK_MSG_ID_STATUSTEXT:
-        return _handleStatusText(vehicle, message);
+        return _handleIncomingStatusText(vehicle, message);
     case MAVLINK_MSG_ID_HEARTBEAT:
-        _handleHeartbeat(vehicle, message);
+        _handleIncomingHeartbeat(vehicle, message);
         break;
     }
 

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -114,10 +114,10 @@ private:
     static bool _isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion);
     void _setInfoSeverity(mavlink_message_t* message) const;
     QString _getMessageText(mavlink_message_t* message) const;
-    void _handleParamValue(Vehicle* vehicle, mavlink_message_t* message);
+    void _handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message);
+    bool _handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message);
+    void _handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
     void _handleOutgoingParamSet(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message);
-    bool _handleStatusText(Vehicle* vehicle, mavlink_message_t* message);
-    void _handleHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
     void _soloVideoHandshake(Vehicle* vehicle);
 
     bool                    _textSeverityAdjustmentNeeded;

src/comm/MockLinkFileServer.cc

@@ -365,13 +365,14 @@ void MockLinkFileServer::_sendResponse(uint8_t targetSystemId, uint8_t targetCom
     
     request->hdr.seqNumber = seqNumber;
     
-    mavlink_msg_file_transfer_protocol_pack(_systemIdServer,    // System ID
-                                            0,                  // Component ID
-                                            &mavlinkMessage,    // Mavlink Message to pack into
-                                            0,                  // Target network
-                                            targetSystemId,
-                                            targetComponentId,
-                                            (uint8_t*)request); // Payload
+    mavlink_msg_file_transfer_protocol_pack_chan(_systemIdServer,    // System ID
+                                                 0,                  // Component ID
+                                                 _mockLink->mavlinkChannel(),
+                                                 &mavlinkMessage,    // Mavlink Message to pack into
+                                                 0,                  // Target network
+                                                 targetSystemId,
+                                                 targetComponentId,
+                                                 (uint8_t*)request); // Payload
     
     _mockLink->respondWithMavlinkMessage(mavlinkMessage);
 }

src/comm/MockLinkMissionItemHandler.cc

@@ -96,12 +96,13 @@ void MockLinkMissionItemHandler::_handleMissionRequestList(const mavlink_message
         
         mavlink_message_t   responseMsg;
         
-        mavlink_msg_mission_count_pack(_mockLink->vehicleId(),
-                                       MAV_COMP_ID_MISSIONPLANNER,
-                                       &responseMsg,            // Outgoing message
-                                       msg.sysid,               // Target is original sender
-                                       msg.compid,              // Target is original sender
-                                       itemCount);              // Number of mission items
+        mavlink_msg_mission_count_pack_chan(_mockLink->vehicleId(),
+                                            MAV_COMP_ID_MISSIONPLANNER,
+                                            _mockLink->mavlinkChannel(),
+                                            &responseMsg,            // Outgoing message
+                                            msg.sysid,               // Target is original sender
+                                            msg.compid,              // Target is original sender
+                                            itemCount);              // Number of mission items
         _mockLink->respondWithMavlinkMessage(responseMsg);
     } else {
         qCDebug(MockLinkMissionItemHandlerLog) << "_handleMissionRequestList not responding due to failure mode";
@@ -149,18 +150,19 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t&
                 item = _missionItems[request.seq];
             }
             
-            mavlink_msg_mission_item_pack(_mockLink->vehicleId(),
-                                          MAV_COMP_ID_MISSIONPLANNER,
-                                          &responseMsg,            // Outgoing message
-                                          msg.sysid,               // Target is original sender
-                                          msg.compid,              // Target is original sender
-                                          request.seq,             // Index of mission item being sent
-                                          item.frame,
-                                          item.command,
-                                          item.current,
-                                          item.autocontinue,
-                                          item.param1, item.param2, item.param3, item.param4,
-                                          item.x, item.y, item.z);
+            mavlink_msg_mission_item_pack_chan(_mockLink->vehicleId(),
+                                               MAV_COMP_ID_MISSIONPLANNER,
+                                               _mockLink->mavlinkChannel(),
+                                               &responseMsg,            // Outgoing message
+                                               msg.sysid,               // Target is original sender
+                                               msg.compid,              // Target is original sender
+                                               request.seq,             // Index of mission item being sent
+                                               item.frame,
+                                               item.command,
+                                               item.current,
+                                               item.autocontinue,
+                                               item.param1, item.param2, item.param3, item.param4,
+                                               item.x, item.y, item.z);
             _mockLink->respondWithMavlinkMessage(responseMsg);
         }
     }
@@ -218,7 +220,11 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber)
             missionRequest.target_component =   _mavlinkProtocol->getComponentId();
             missionRequest.seq =                sequenceNumber;
             
-            mavlink_msg_mission_request_encode(_mockLink->vehicleId(), MAV_COMP_ID_MISSIONPLANNER, &message, &missionRequest);
+            mavlink_msg_mission_request_encode_chan(_mockLink->vehicleId(),
+                                                    MAV_COMP_ID_MISSIONPLANNER,
+                                                    _mockLink->mavlinkChannel(),
+                                                    &message,
+                                                    &missionRequest);
             _mockLink->respondWithMavlinkMessage(message);
 
             // If response with Mission Item doesn't come before timer fires it's an error
@@ -238,7 +244,11 @@ void MockLinkMissionItemHandler::_sendAck(MAV_MISSION_RESULT ackType)
     missionAck.target_component =   _mavlinkProtocol->getComponentId();
     missionAck.type =               ackType;
     
-    mavlink_msg_mission_ack_encode(_mockLink->vehicleId(), MAV_COMP_ID_MISSIONPLANNER, &message, &missionAck);
+    mavlink_msg_mission_ack_encode_chan(_mockLink->vehicleId(),
+                                        MAV_COMP_ID_MISSIONPLANNER,
+                                        _mockLink->mavlinkChannel(),
+                                        &message,
+                                        &missionAck);
     _mockLink->respondWithMavlinkMessage(message);
 }