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GCS_MAVLink: strip out the old GCS_Class class 

this is not longer needed as we don't support multiple protocol
classes
This commit is contained in:
Andrew Tridgell 2014-12-10 14:39:32 +11:00 committed by Randy Mackay
parent 0d2308f754
commit 079158d4b8
2 changed files with 9 additions and 87 deletions
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94
libraries/GCS_MAVLink/GCS.h
View File

@ -57,95 +57,11 @@ enum ap_message {
};
///
/// @class GCS
/// @brief Class describing the interface between the APM code
/// proper and the GCS implementation.
///
/// GCS' are currently implemented inside the sketch and as such have
/// access to all global state. The sketch should not, however, call GCS
/// internal functions - all calls to the GCS should be routed through
/// this interface (or functions explicitly exposed by a subclass).
///
class GCS_Class
{
public:
/// Startup initialisation.
///
/// This routine performs any one-off initialisation required before
/// GCS messages are exchanged.
///
/// @note The stream is expected to be set up and configured for the
/// correct bitrate before ::init is called.
///
/// @note The stream is currently BetterStream so that we can use the _P
/// methods; this may change if Arduino adds them to Print.
///
/// @param port The stream over which messages are exchanged.
///
void init(AP_HAL::UARTDriver *port) {
_port = port;
}
/// Update GCS state.
///
/// This may involve checking for received bytes on the stream,
/// or sending additional periodic messages.
void update(void) {
}
/// Send a message with a single numeric parameter.
///
/// This may be a standalone message, or the GCS driver may
/// have its own way of locating additional parameters to send.
///
/// @param id ID of the message to send.
/// @param param Explicit message parameter.
///
void send_message(enum ap_message id) {
}
/// Send a text message.
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text(gcs_severity severity, const char *str) {
}
/// Send a text message with a PSTR()
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text_P(gcs_severity severity, const prog_char_t *str) {
}
// send streams which match frequency range
void data_stream_send(void);
// set to true if this GCS link is active
bool initialised;
protected:
/// The stream we are communicating over
AP_HAL::UARTDriver * _port;
};
//
// GCS class definitions.
//
// These are here so that we can declare the GCS object early in the sketch
// and then reference it statically rather than via a pointer.
//
///
/// @class GCS_MAVLINK
/// @brief The mavlink protocol for qgroundcontrol
/// @brief MAVLink transport control class
///
class GCS_MAVLINK : public GCS_Class
class GCS_MAVLINK
{
public:
GCS_MAVLINK();
@ -164,6 +80,9 @@ public:
static const struct AP_Param::GroupInfo var_info[];
// set to true if this GCS link is active
bool initialised;
// NOTE! The streams enum below and the
// set of AP_Int16 stream rates _must_ be
// kept in the same order
@ -220,6 +139,9 @@ public:
private:
void handleMessage(mavlink_message_t * msg);
/// The stream we are communicating over
AP_HAL::UARTDriver *_port;
/// Perform queued sending operations
///
AP_Param * _queued_parameter; ///< next parameter to

2
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -34,7 +34,7 @@ GCS_MAVLINK::GCS_MAVLINK() :
void
GCS_MAVLINK::init(AP_HAL::UARTDriver *port)
{
GCS_Class::init(port);
_port = port;
if (port == (AP_HAL::BetterStream*)hal.uartA) {
mavlink_comm_0_port = port;
chan = MAVLINK_COMM_0;