static unsigned char mavlink_get_route(unsigned char ch, mavlink_message_t *msg)
{
int target_sys, target_comp;
unsigned char i, route = active_channel_mask;
/* if the message wasn't generated by us
* mask out source channel
* and learn the route */
if (ch != 255) {
route &= ~(1 << ch);
mavlink_learn_route(ch, msg);
}
/* heartbeats goes to all channels except origin */
if (msg->msgid == MAVLINK_MSG_ID_HEARTBEAT)
return route;
get_targets(msg, &target_sys, &target_comp);
/* its for us - don't route */
if ((target_sys == config.mav.osd_sysid) && (target_comp == MAV_COMP_ID_OSD))
return 0;
/* broadcast message - route to all active ports*/
if (target_sys <= 0)
return route;
/* selective routing - try match sysid and compid */
route = 0;
for (i = 0; i < total_routes; i++) {
if (target_sys == routes[i].sysid &&
(target_comp <= 0 || target_comp == routes[i].compid) &&
routes[i].ch != ch) {
route |= 1 << routes[i].ch;
}
}
if (route)
return route;
/* try forwarding to any route that match the sysid */
route = 0;
for (i = 0; i < total_routes; i++) {
if (target_sys == routes[i].sysid && routes[i].ch != ch) {
route |= 1 << routes[i].ch;
}
}
return route;
}
static unsigned char mavlink_get_route(unsigned char ch, mavlink_message_t *msg)
{
int target_sys, target_comp;
unsigned char i;
unsigned char route = active_channel_mask;
/* if the message wasn't generated by us, mask out source channel */
if (ch != 255) {
route &= ~(1 << ch);
mavlink_learn_route(ch, msg);
}
/* heartbeats goes to all channels except origin */
if (msg->msgid == MAVLINK_MSG_ID_HEARTBEAT)
return route;
get_targets(msg, &target_sys, &target_comp);
/* destination is us - done */
if ((target_sys == osd_sysid) && (target_comp == MAV_COMP_ID_ALCEOSD))
return 0;
route = 0;
for (i = 0; i < total_routes; i++) {
if ((target_sys <= 0) || (target_sys == routes[i].sysid &&
(target_comp <= 0 ||
target_comp == routes[i].compid))) {
if (routes[i].ch != ch) {
route |= 1 << routes[i].ch;
#ifdef ROUTING_DEBUG
/*printf("fwd msg %u from chan %u to chan %u sysid=%d compid=%d\n",
msg->msgid,
(unsigned)ch,
(unsigned)routes[i].ch,
(int)target_sys,
(int)target_comp);*/
#endif
}
}
}
return route;
}
