Plane: remove CLI

ArduPlane/ArduPlane.cpp

@@ -96,8 +96,6 @@ void Plane::stats_update(void)
 
 void Plane::setup() 
 {
-    cliSerial = hal.console;
-
     // load the default values of variables listed in var_info[]
     AP_Param::setup_sketch_defaults();
 

ArduPlane/GCS_Plane.cpp

@@ -1,19 +1,6 @@
 #include "GCS_Plane.h"
 #include "Plane.h"
 
-bool GCS_Plane::cli_enabled() const
-{
-#if CLI_ENABLED == ENABLED
-    return plane.g.cli_enabled;
-#else
-    return false;
-#endif
-}
-
-AP_HAL::BetterStream* GCS_Plane::cliSerial() {
-    return plane.cliSerial;
-}
-
 void GCS_Plane::send_airspeed_calibration(const Vector3f &vg)
 {
     for (uint8_t i=0; i<num_gcs(); i++) {

ArduPlane/GCS_Plane.h

@@ -2,7 +2,6 @@
 
 #include <GCS_MAVLink/GCS.h>
 #include "GCS_Mavlink.h"
-#include "config.h" // for CLI_ENABLED
 
 class GCS_Plane : public GCS
 {
@@ -27,7 +26,4 @@ private:
 
     GCS_MAVLINK_Plane _chan[MAVLINK_COMM_NUM_BUFFERS];
 
-    bool cli_enabled() const override;
-    AP_HAL::BetterStream* cliSerial() override;
-
 };

ArduPlane/Log.cpp

@@ -3,157 +3,6 @@
 
 #if LOGGING_ENABLED == ENABLED
 
-#if CLI_ENABLED == ENABLED
-// Code to Write and Read packets from DataFlash.log memory
-// Code to interact with the user to dump or erase logs
-
-// Creates a constant array of structs representing menu options
-// and stores them in Flash memory, not RAM.
-// User enters the string in the console to call the functions on the right.
-// See class Menu in AP_Coommon for implementation details
-static const struct Menu::command log_menu_commands[] = {
-    {"dump",        MENU_FUNC(dump_log)},
-    {"erase",       MENU_FUNC(erase_logs)},
-    {"enable",      MENU_FUNC(select_logs)},
-    {"disable",     MENU_FUNC(select_logs)}
-};
-
-// A Macro to create the Menu
-MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&plane, &Plane::print_log_menu, bool));
-
-bool Plane::print_log_menu(void)
-{
-    cliSerial->printf("logs enabled: \n");
-
-    if (0 == g.log_bitmask) {
-        cliSerial->printf("none\n");
-    }else{
-        // Macro to make the following code a bit easier on the eye.
-        // Pass it the capitalised name of the log option, as defined
-        // in defines.h but without the LOG_ prefix.  It will check for
-        // the bit being set and print the name of the log option to suit.
- #define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf(" %s", # _s)
-        PLOG(ATTITUDE_FAST);
-        PLOG(ATTITUDE_MED);
-        PLOG(GPS);
-        PLOG(PM);
-        PLOG(CTUN);
-        PLOG(NTUN);
-        PLOG(MODE);
-        PLOG(IMU);
-        PLOG(CMD);
-        PLOG(CURRENT);
-        PLOG(COMPASS);
-        PLOG(TECS);
-        PLOG(CAMERA);
-        PLOG(RC);
-        PLOG(SONAR);
- #undef PLOG
-    }
-
-    cliSerial->printf("\n");
-
-    DataFlash.ListAvailableLogs(cliSerial);
-    return(true);
-}
-
-int8_t Plane::dump_log(uint8_t argc, const Menu::arg *argv)
-{
-    int16_t dump_log_num;
-    uint16_t dump_log_start;
-    uint16_t dump_log_end;
-
-    // check that the requested log number can be read
-    dump_log_num = argv[1].i;
-
-    if (dump_log_num == -2) {
-        DataFlash.DumpPageInfo(cliSerial);
-        return(-1);
-    } else if (dump_log_num <= 0) {
-        cliSerial->printf("dumping all\n");
-        Log_Read(0, 1, 0);
-        return(-1);
-    } else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
-        cliSerial->printf("bad log number\n");
-        return(-1);
-    }
-
-    DataFlash.get_log_boundaries(dump_log_num, dump_log_start, dump_log_end);
-    Log_Read((uint16_t)dump_log_num, dump_log_start, dump_log_end);
-    return 0;
-}
-
-int8_t Plane::erase_logs(uint8_t argc, const Menu::arg *argv)
-{
-    DataFlash.EnableWrites(false);
-    do_erase_logs();
-    DataFlash.EnableWrites(true);
-    return 0;
-}
-
-int8_t Plane::select_logs(uint8_t argc, const Menu::arg *argv)
-{
-    uint32_t bits;
-
-    if (argc != 2) {
-        cliSerial->printf("missing log type\n");
-        return(-1);
-    }
-
-    bits = 0;
-
-    // Macro to make the following code a bit easier on the eye.
-    // Pass it the capitalised name of the log option, as defined
-    // in defines.h but without the LOG_ prefix.  It will check for
-    // that name as the argument to the command, and set the bit in
-    // bits accordingly.
-    //
-    if (!strcasecmp(argv[1].str, "all")) {
-        bits = 0xFFFFFFFFUL;
-    } else {
- #define TARG(_s)        if (!strcasecmp(argv[1].str, # _s)) bits |= MASK_LOG_ ## _s
-        TARG(ATTITUDE_FAST);
-        TARG(ATTITUDE_MED);
-        TARG(GPS);
-        TARG(PM);
-        TARG(CTUN);
-        TARG(NTUN);
-        TARG(MODE);
-        TARG(IMU);
-        TARG(CMD);
-        TARG(CURRENT);
-        TARG(COMPASS);
-        TARG(TECS);
-        TARG(CAMERA);
-        TARG(RC);
-        TARG(SONAR);
- #undef TARG
-    }
-
-    if (!strcasecmp(argv[0].str, "enable")) {
-        g.log_bitmask.set_and_save(g.log_bitmask | bits);
-    }else{
-        g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
-    }
-    return(0);
-}
-
-int8_t Plane::process_logs(uint8_t argc, const Menu::arg *argv)
-{
-    log_menu.run();
-    return 0;
-}
-
-#endif // CLI_ENABLED == ENABLED
-
-void Plane::do_erase_logs(void)
-{
-    gcs().send_text(MAV_SEVERITY_INFO, "Erasing logs");
-    DataFlash.EraseAll();
-    gcs().send_text(MAV_SEVERITY_INFO, "Log erase complete");
-}
-
-
 // Write an attitude packet
 void Plane::Log_Write_Attitude(void)
 {
@@ -561,22 +410,6 @@ const struct LogStructure Plane::log_structure[] = {
       "AETR", "Qhhhhh",  "TimeUS,Ail,Elev,Thr,Rudd,Flap" }, \
 };
 
-#if CLI_ENABLED == ENABLED
-// Read the DataFlash.log memory : Packet Parser
-void Plane::Log_Read(uint16_t list_entry, int16_t start_page, int16_t end_page)
-{
-    cliSerial->printf("\n" FIRMWARE_STRING
-                             "\nFree RAM: %u\n",
-                        (unsigned)hal.util->available_memory());
-
-    cliSerial->printf("%s\n", HAL_BOARD_NAME);
-
-	DataFlash.LogReadProcess(list_entry, start_page, end_page,
-                             FUNCTOR_BIND_MEMBER(&Plane::print_flight_mode, void, AP_HAL::BetterStream *, uint8_t),
-                             cliSerial);
-}
-#endif // CLI_ENABLED
-
 void Plane::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by DataFlash
@@ -593,21 +426,10 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
 void Plane::log_init(void)
 {
     DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
-
-    gcs().reset_cli_timeout();
 }
 
 #else // LOGGING_ENABLED
 
- #if CLI_ENABLED == ENABLED
-bool Plane::print_log_menu(void) { return true; }
-int8_t Plane::dump_log(uint8_t argc, const Menu::arg *argv) { return 0; }
-int8_t Plane::erase_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
-int8_t Plane::select_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
-int8_t Plane::process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
- #endif // CLI_ENABLED == ENABLED
-
-void Plane::do_erase_logs(void) {}
 void Plane::Log_Write_Attitude(void) {}
 void Plane::Log_Write_Fast(void) {}
 void Plane::Log_Write_Performance() {}
@@ -630,10 +452,6 @@ void Plane::Log_Write_Baro(void) {}
 void Plane::Log_Write_Airspeed(void) {}
 void Plane::Log_Write_Home_And_Origin() {}
 
- #if CLI_ENABLED == ENABLED
-void Plane::Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page) {}
- #endif // CLI_ENABLED
-
 void Plane::log_init(void) {}
 
 #endif // LOGGING_ENABLED

ArduPlane/Parameters.cpp

@@ -39,15 +39,6 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",    255),
 
-#if CLI_ENABLED == ENABLED
-    // @Param: CLI_ENABLED
-    // @DisplayName: CLI Enable
-    // @Description: This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface
-    // @Values: 0:Disabled,1:Enabled
-    // @User: Advanced
-    GSCALAR(cli_enabled,            "CLI_ENABLED",    0),
-#endif
-
     // @Group: SERIAL
     // @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
     GOBJECT(serial_manager, "SERIAL",   AP_SerialManager),
@@ -1273,19 +1264,19 @@ const AP_Param::ConversionInfo conversion_table[] = {
 void Plane::load_parameters(void)
 {
     if (!AP_Param::check_var_info()) {
-        cliSerial->printf("Bad parameter table\n");
+        hal.console->printf("Bad parameter table\n");
         AP_HAL::panic("Bad parameter table");
     }
     if (!g.format_version.load() ||
         g.format_version != Parameters::k_format_version) {
 
         // erase all parameters
-        cliSerial->printf("Firmware change: erasing EEPROM...\n");
+        hal.console->printf("Firmware change: erasing EEPROM...\n");
         AP_Param::erase_all();
 
         // save the current format version
         g.format_version.set_and_save(Parameters::k_format_version);
-        cliSerial->printf("done.\n");
+        hal.console->printf("done.\n");
     }
 
     uint32_t before = micros();
@@ -1319,7 +1310,7 @@ void Plane::load_parameters(void)
 
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_PLANE);
 
-    cliSerial->printf("load_all took %uus\n", (unsigned)(micros() - before));
+    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
 
 /*
@@ -1352,7 +1343,7 @@ void Plane::convert_mixers(void)
         chan4->get_function() == SRV_Channel::k_rudder &&
         !chan2->function_configured() &&
         !chan4->function_configured()) {
-        cliSerial->printf("Converting vtail_output %u\n", vtail_output.get());
+        hal.console->printf("Converting vtail_output %u\n", vtail_output.get());
         switch (vtail_output) {
         case MIXING_UPUP:
         case MIXING_UPUP_SWP:
@@ -1388,7 +1379,7 @@ void Plane::convert_mixers(void)
         chan2->get_function() == SRV_Channel::k_elevator &&
         !chan1->function_configured() &&
         !chan2->function_configured()) {
-        cliSerial->printf("convert elevon_output %u\n", elevon_output.get());
+        hal.console->printf("convert elevon_output %u\n", elevon_output.get());
         switch (elevon_output) {
         case MIXING_UPUP:
         case MIXING_UPUP_SWP:

ArduPlane/Parameters.h

@@ -134,7 +134,7 @@ public:
         k_param_override_channel,
         k_param_stall_prevention,
         k_param_optflow,
-        k_param_cli_enabled,
+        k_param_cli_enabled_old, // unused - CLI removed
         k_param_trim_rc_at_start,
         k_param_hil_mode,
         k_param_land_disarm_delay,  // unused - moved to AP_Landing
@@ -361,9 +361,6 @@ public:
     AP_Int16 sysid_this_mav;
     AP_Int16 sysid_my_gcs;
     AP_Int8 telem_delay;
-#if CLI_ENABLED == ENABLED
-    AP_Int8 cli_enabled;
-#endif
 
     AP_Float hil_err_limit;
 

ArduPlane/Plane.h

@@ -158,7 +158,6 @@ public:
 private:
     // key aircraft parameters passed to multiple libraries
     AP_Vehicle::FixedWing aparm;
-    AP_HAL::BetterStream* cliSerial;
 
     // Global parameters are all contained within the 'g' and 'g2' classes.
     Parameters g;
@@ -824,7 +823,6 @@ private:
     void gcs_send_airspeed_calibration(const Vector3f &vg);
     void gcs_retry_deferred(void);
 
-    void do_erase_logs(void);
     void Log_Write_Fast(void);
     void Log_Write_Attitude(void);
     void Log_Write_Performance();
@@ -845,7 +843,6 @@ private:
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Write_AOA_SSA();
     void Log_Write_AETR();
-    void Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page);
 
     void load_parameters(void);
     void convert_mixers(void);
@@ -962,17 +959,6 @@ private:
     void button_update(void);
     void stats_update();
     void ice_update(void);
-    void report_radio();
-    void report_ins();
-    void report_compass();
-    void print_radio_values();
-    void print_done();
-    void print_blanks(int16_t num);
-    void print_divider(void);
-    void zero_eeprom(void);
-    void print_enabled(bool b);
-    void print_accel_offsets_and_scaling(void);
-    void print_gyro_offsets(void);
     void init_ardupilot();
     void startup_ground(void);
     enum FlightMode get_previous_mode();
@@ -984,7 +970,6 @@ private:
     void startup_INS_ground(void);
     void update_notify();
     void resetPerfData(void);
-    void print_comma(void);
     bool should_log(uint32_t mask);
     int8_t throttle_percentage(void);
     void change_arm_state(void);
@@ -996,7 +981,6 @@ private:
     int8_t takeoff_tail_hold(void);
     int16_t get_takeoff_pitch_min_cd(void);
     void complete_auto_takeoff(void);
-    void print_hit_enter();
     void ahrs_update();
     void update_speed_height(void);
     void update_GPS_50Hz(void);
@@ -1088,9 +1072,7 @@ private:
     void do_digicam_control(const AP_Mission::Mission_Command& cmd);
     bool start_command_callback(const AP_Mission::Mission_Command &cmd);
     bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
-    void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
     void notify_flight_mode(enum FlightMode mode);
-    void run_cli(AP_HAL::UARTDriver *port);
     void log_init();
     void init_capabilities(void);
     void dataflash_periodic(void);
@@ -1111,36 +1093,8 @@ private:
 public:
     void mavlink_delay_cb();
     void failsafe_check(void);
-    bool print_log_menu(void);
-    int8_t dump_log(uint8_t argc, const Menu::arg *argv);
-    int8_t erase_logs(uint8_t argc, const Menu::arg *argv);
-    int8_t select_logs(uint8_t argc, const Menu::arg *argv);
-    int8_t process_logs(uint8_t argc, const Menu::arg *argv);
-    int8_t setup_mode(uint8_t argc, const Menu::arg *argv);
-    int8_t setup_factory(uint8_t argc, const Menu::arg *argv);
-    int8_t setup_erase(uint8_t argc, const Menu::arg *argv);
-    int8_t test_mode(uint8_t argc, const Menu::arg *argv);
-    int8_t reboot_board(uint8_t argc, const Menu::arg *argv);
-    int8_t main_menu_help(uint8_t argc, const Menu::arg *argv);
-    int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv);
-    int8_t test_radio(uint8_t argc, const Menu::arg *argv);
-    int8_t test_failsafe(uint8_t argc, const Menu::arg *argv);
-    int8_t test_relay(uint8_t argc, const Menu::arg *argv);
-    int8_t test_wp(uint8_t argc, const Menu::arg *argv);
-    void test_wp_print(const AP_Mission::Mission_Command& cmd);
-    int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
-    int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
-    int8_t test_logging(uint8_t argc, const Menu::arg *argv);
-    int8_t test_gps(uint8_t argc, const Menu::arg *argv);
-    int8_t test_ins(uint8_t argc, const Menu::arg *argv);
-    int8_t test_mag(uint8_t argc, const Menu::arg *argv);
-    int8_t test_airspeed(uint8_t argc, const Menu::arg *argv);
-    int8_t test_pressure(uint8_t argc, const Menu::arg *argv);
-    int8_t test_shell(uint8_t argc, const Menu::arg *argv);
 };
 
-#define MENU_FUNC(func) FUNCTOR_BIND(&plane, &Plane::func, int8_t, uint8_t, const Menu::arg *)
-
 extern const AP_HAL::HAL& hal;
 extern Plane plane;
 

ArduPlane/config.h

@@ -347,12 +347,6 @@
  # define SCALING_SPEED          15.0
 #endif
 
-// use this to completely disable the CLI. We now default the CLI to
-// off on smaller boards.
-#ifndef CLI_ENABLED
-#define CLI_ENABLED ENABLED
-#endif
-
 // use this to disable geo-fencing
 #ifndef GEOFENCE_ENABLED
  # define GEOFENCE_ENABLED ENABLED

ArduPlane/system.cpp

@@ -8,61 +8,6 @@
 *
 *****************************************************************************/
 
-#if CLI_ENABLED == ENABLED
-
-// This is the help function
-int8_t Plane::main_menu_help(uint8_t argc, const Menu::arg *argv)
-{
-    cliSerial->printf("Commands:\n"
-                         "  logs        log readback/setup mode\n"
-                         "  setup       setup mode\n"
-                         "  test        test mode\n"
-                         "  reboot      reboot to flight mode\n"
-                         "\n");
-    return(0);
-}
-
-// Command/function table for the top-level menu.
-static const struct Menu::command main_menu_commands[] = {
-//   command		function called
-//   =======        ===============
-    {"logs",        MENU_FUNC(process_logs)},
-    {"setup",       MENU_FUNC(setup_mode)},
-    {"test",        MENU_FUNC(test_mode)},
-    {"reboot",      MENU_FUNC(reboot_board)},
-    {"help",        MENU_FUNC(main_menu_help)},
-};
-
-// Create the top-level menu object.
-MENU(main_menu, THISFIRMWARE, main_menu_commands);
-
-int8_t Plane::reboot_board(uint8_t argc, const Menu::arg *argv)
-{
-    hal.scheduler->reboot(false);
-    return 0;
-}
-
-// the user wants the CLI. It never exits
-void Plane::run_cli(AP_HAL::UARTDriver *port)
-{
-    // disable the failsafe code in the CLI
-    hal.scheduler->register_timer_failsafe(nullptr,1);
-
-    // disable the mavlink delay callback
-    hal.scheduler->register_delay_callback(nullptr, 5);
-
-    cliSerial = port;
-    Menu::set_port(port);
-    port->set_blocking_writes(true);
-
-    while (1) {
-        main_menu.run();
-    }
-}
-
-#endif // CLI_ENABLED
-
-
 static void mavlink_delay_cb_static()
 {
     plane.mavlink_delay_cb();
@@ -78,9 +23,9 @@ void Plane::init_ardupilot()
     // initialise serial port
     serial_manager.init_console();
 
-    cliSerial->printf("\n\nInit " FIRMWARE_STRING
+    hal.console->printf("\n\nInit " FIRMWARE_STRING
-                         "\n\nFree RAM: %u\n",
+                        "\n\nFree RAM: %u\n",
-                      (unsigned)hal.util->available_memory());
+                        (unsigned)hal.util->available_memory());
 
 
     //
@@ -127,13 +72,6 @@ void Plane::init_ardupilot()
     gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
 
 
-    // specify callback function for CLI menu system
-#if CLI_ENABLED == ENABLED
-    if (g.cli_enabled) {
-        gcs().set_run_cli_func(FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *));
-    }
-#endif
-
     // Register mavlink_delay_cb, which will run anytime you have
     // more than 5ms remaining in your call to hal.scheduler->delay
     hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
@@ -159,7 +97,7 @@ void Plane::init_ardupilot()
     // used to detect in-flight resets
     g.num_resets.set_and_save(g.num_resets+1);
 
-    // init baro before we start the GCS, so that the CLI baro test works
+    // init baro
     barometer.init();
 
     // initialise rangefinder
@@ -196,7 +134,7 @@ void Plane::init_ardupilot()
     }
 #endif
         if (!compass_ok) {
-            cliSerial->printf("Compass initialisation failed!\n");
+            hal.console->printf("Compass initialisation failed!\n");
             g.compass_enabled = false;
         } else {
             ahrs.set_compass(&compass);
@@ -235,10 +173,6 @@ void Plane::init_ardupilot()
      */
     hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
 
-#if CLI_ENABLED == ENABLED
-    gcs().handle_interactive_setup();
-#endif // CLI_ENABLED
-
     init_capabilities();
 
     quadplane.setup();
@@ -686,72 +620,6 @@ void Plane::resetPerfData(void)
 }
 
 
-void Plane::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
-{
-    switch (mode) {
-    case MANUAL:
-        port->printf("Manual");
-        break;
-    case CIRCLE:
-        port->printf("Circle");
-        break;
-    case STABILIZE:
-        port->printf("Stabilize");
-        break;
-    case TRAINING:
-        port->printf("Training");
-        break;
-    case ACRO:
-        port->printf("ACRO");
-        break;
-    case FLY_BY_WIRE_A:
-        port->printf("FBW_A");
-        break;
-    case AUTOTUNE:
-        port->printf("AUTOTUNE");
-        break;
-    case FLY_BY_WIRE_B:
-        port->printf("FBW_B");
-        break;
-    case CRUISE:
-        port->printf("CRUISE");
-        break;
-    case AUTO:
-        port->printf("AUTO");
-        break;
-    case RTL:
-        port->printf("RTL");
-        break;
-    case LOITER:
-        port->printf("Loiter");
-        break;
-    case AVOID_ADSB:
-        port->printf("AVOID_ADSB");
-        break;
-    case GUIDED:
-        port->printf("Guided");
-        break;
-    case QSTABILIZE:
-        port->printf("QStabilize");
-        break;
-    case QHOVER:
-        port->printf("QHover");
-        break;
-    case QLOITER:
-        port->printf("QLoiter");
-        break;
-    case QLAND:
-        port->printf("QLand");
-        break;
-    case QRTL:
-        port->printf("QRTL");
-        break;
-    default:
-        port->printf("Mode(%u)", (unsigned)mode);
-        break;
-    }
-}
-
 // sets notify object flight mode information
 void Plane::notify_flight_mode(enum FlightMode mode)
 {
@@ -825,13 +693,6 @@ void Plane::notify_flight_mode(enum FlightMode mode)
     }
 }
 
-#if CLI_ENABLED == ENABLED
-void Plane::print_comma(void)
-{
-    cliSerial->printf(",");
-}
-#endif
-
 /*
   should we log a message type now?
  */