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AP_HAL_Linux: move from HAL_NO_GCS to HAL_GCS_ENABLED

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This commit is contained in:
Peter Barker 2021-09-18 09:48:29 +10:00 committed by Peter Barker
parent 6ce79785b5
commit 275457fd2c
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_HAL_Linux/UARTDriver.cpp
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@ -25,15 +25,15 @@
#include "UDPDevice.h" #include "UDPDevice.h"
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#if HAL_GCS_ENABLED
#include <AP_HAL/utility/packetise.h> #include <AP_HAL/utility/packetise.h>
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
using namespace Linux; using namespace Linux;
UARTDriver::UARTDriver(bool default_console) : UARTDriver::UARTDriver(bool default_console) :
device_path(nullptr),
_packetise(false),
_device{new ConsoleDevice()} _device{new ConsoleDevice()}
{ {
if (default_console) { if (default_console) {
@ -189,7 +189,9 @@ AP_HAL::OwnPtr<SerialDevice> UARTDriver::_parseDevicePath(const char *arg)
if (strcmp(protocol, "udp") == 0 || strcmp(protocol, "udpin") == 0) { if (strcmp(protocol, "udp") == 0 || strcmp(protocol, "udpin") == 0) {
bool bcast = (_flag && strcmp(_flag, "bcast") == 0); bool bcast = (_flag && strcmp(_flag, "bcast") == 0);
#if HAL_GCS_ENABLED
_packetise = true; _packetise = true;
#endif
if (strcmp(protocol, "udp") == 0) { if (strcmp(protocol, "udp") == 0) {
device = new UDPDevice(_ip, _base_port, bcast, false); device = new UDPDevice(_ip, _base_port, bcast, false);
} else { } else {
@ -391,10 +393,12 @@ bool UARTDriver::_write_pending_bytes(void)
uint32_t available_bytes = _writebuf.available(); uint32_t available_bytes = _writebuf.available();
uint16_t n = available_bytes; uint16_t n = available_bytes;
#if HAL_GCS_ENABLED
if (_packetise && n > 0) { if (_packetise && n > 0) {
// send on MAVLink packet boundaries if possible // send on MAVLink packet boundaries if possible
n = mavlink_packetise(_writebuf, n); n = mavlink_packetise(_writebuf, n);
} }
#endif
if (n > 0) { if (n > 0) {
int ret; int ret;