mirror of https://github.com/ArduPilot/ardupilot
uncrustify ArduCopter/GCS.h
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uncrustify
Pat Hickey
parent
37e00fae80
commit
3d4ca7aa30
219
ArduCopter/GCS.h
219
ArduCopter/GCS.h
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@ -1,7 +1,8 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file GCS.h
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/// @brief Interface definition for the various Ground Control System protocols.
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/// @brief Interface definition for the various Ground Control System
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// protocols.
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#ifndef __GCS_H
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#define __GCS_H
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@ -26,67 +27,71 @@ class GCS_Class
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{
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public:
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/// Startup initialisation.
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///
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/// This routine performs any one-off initialisation required before
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/// GCS messages are exchanged.
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///
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/// @note The stream is expected to be set up and configured for the
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/// correct bitrate before ::init is called.
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///
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/// @note The stream is currently BetterStream so that we can use the _P
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/// methods; this may change if Arduino adds them to Print.
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///
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/// @param port The stream over which messages are exchanged.
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///
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void init(FastSerial *port) {
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/// Startup initialisation.
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///
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/// This routine performs any one-off initialisation required before
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/// GCS messages are exchanged.
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///
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/// @note The stream is expected to be set up and configured for the
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/// correct bitrate before ::init is called.
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///
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/// @note The stream is currently BetterStream so that we can use the _P
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/// methods; this may change if Arduino adds them to Print.
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///
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/// @param port The stream over which messages are exchanged.
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///
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void init(FastSerial *port) {
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_port = port;
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initialised = true;
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last_gps_satellites = 255;
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}
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/// Update GCS state.
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///
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/// This may involve checking for received bytes on the stream,
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/// or sending additional periodic messages.
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void update(void) {}
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/// Update GCS state.
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///
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/// This may involve checking for received bytes on the stream,
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/// or sending additional periodic messages.
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void update(void) {
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}
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/// Send a message with a single numeric parameter.
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///
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/// This may be a standalone message, or the GCS driver may
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/// have its own way of locating additional parameters to send.
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///
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/// @param id ID of the message to send.
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/// @param param Explicit message parameter.
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///
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void send_message(enum ap_message id) {}
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/// Send a message with a single numeric parameter.
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///
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/// This may be a standalone message, or the GCS driver may
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/// have its own way of locating additional parameters to send.
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///
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/// @param id ID of the message to send.
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/// @param param Explicit message parameter.
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///
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void send_message(enum ap_message id) {
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}
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/// Send a text message.
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///
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/// @param severity A value describing the importance of the message.
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/// @param str The text to be sent.
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///
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void send_text(gcs_severity severity, const char *str) {}
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/// Send a text message.
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///
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/// @param severity A value describing the importance of the message.
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/// @param str The text to be sent.
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///
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void send_text(gcs_severity severity, const char *str) {
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}
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/// Send a text message with a PSTR()
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///
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/// @param severity A value describing the importance of the message.
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/// @param str The text to be sent.
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///
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void send_text(gcs_severity severity, const prog_char_t *str) {}
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/// Send a text message with a PSTR()
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///
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/// @param severity A value describing the importance of the message.
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/// @param str The text to be sent.
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///
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void send_text(gcs_severity severity, const prog_char_t *str) {
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}
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// send streams which match frequency range
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void data_stream_send(void);
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void data_stream_send(void);
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// set to true if this GCS link is active
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bool initialised;
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bool initialised;
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// used to prevent wasting bandwidth with GPS_STATUS messages
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uint8_t last_gps_satellites;
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uint8_t last_gps_satellites;
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protected:
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/// The stream we are communicating over
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FastSerial *_port;
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/// The stream we are communicating over
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FastSerial * _port;
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};
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//
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@ -103,17 +108,17 @@ protected:
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class GCS_MAVLINK : public GCS_Class
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{
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public:
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GCS_MAVLINK();
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void update(void);
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void init(FastSerial *port);
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void send_message(enum ap_message id);
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void send_text(gcs_severity severity, const char *str);
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void send_text(gcs_severity severity, const prog_char_t *str);
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void data_stream_send(void);
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void queued_param_send();
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void queued_waypoint_send();
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GCS_MAVLINK();
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void update(void);
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void init(FastSerial *port);
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void send_message(enum ap_message id);
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void send_text(gcs_severity severity, const char *str);
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void send_text(gcs_severity severity, const prog_char_t *str);
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void data_stream_send(void);
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void queued_param_send();
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void queued_waypoint_send();
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static const struct AP_Param::GroupInfo var_info[];
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static const struct AP_Param::GroupInfo var_info[];
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// NOTE! The streams enum below and the
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// set of AP_Int16 stream rates _must_ be
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@ -130,69 +135,79 @@ public:
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NUM_STREAMS};
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// see if we should send a stream now. Called at 50Hz
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bool stream_trigger(enum streams stream_num);
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bool stream_trigger(enum streams stream_num);
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private:
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void handleMessage(mavlink_message_t * msg);
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void handleMessage(mavlink_message_t * msg);
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/// Perform queued sending operations
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///
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AP_Param *_queued_parameter; ///< next parameter to be sent in queue
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enum ap_var_type _queued_parameter_type; ///< type of the next parameter
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AP_Param::ParamToken _queued_parameter_token;///AP_Param token for next() call
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uint16_t _queued_parameter_index; ///< next queued parameter's index
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uint16_t _queued_parameter_count; ///< saved count of parameters for queued send
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/// Perform queued sending operations
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///
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AP_Param * _queued_parameter; ///< next parameter to
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// be sent in queue
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enum ap_var_type _queued_parameter_type; ///< type of the next
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// parameter
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AP_Param::ParamToken _queued_parameter_token; ///AP_Param token for
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// next() call
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uint16_t _queued_parameter_index; ///< next queued
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// parameter's index
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uint16_t _queued_parameter_count; ///< saved count of
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// parameters for
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// queued send
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/// Count the number of reportable parameters.
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///
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/// Not all parameters can be reported via MAVlink. We count the number that are
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/// so that we can report to a GCS the number of parameters it should expect when it
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/// requests the full set.
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///
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/// @return The number of reportable parameters.
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///
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uint16_t _count_parameters(); ///< count reportable parameters
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/// Count the number of reportable parameters.
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///
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/// Not all parameters can be reported via MAVlink. We count the number
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// that are
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/// so that we can report to a GCS the number of parameters it should
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// expect when it
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/// requests the full set.
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///
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/// @return The number of reportable parameters.
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///
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uint16_t _count_parameters(); ///< count reportable
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// parameters
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uint16_t _parameter_count; ///< cache of reportable parameters
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uint16_t _parameter_count; ///< cache of reportable
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// parameters
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mavlink_channel_t chan;
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uint16_t packet_drops;
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mavlink_channel_t chan;
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uint16_t packet_drops;
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#if CLI_ENABLED == ENABLED
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// this allows us to detect the user wanting the CLI to start
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uint8_t crlf_count;
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uint8_t crlf_count;
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#endif
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// waypoints
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uint16_t waypoint_request_i; // request index
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uint16_t waypoint_dest_sysid; // where to send requests
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uint16_t waypoint_dest_compid; // "
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bool waypoint_sending; // currently in send process
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bool waypoint_receiving; // currently receiving
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uint16_t waypoint_count;
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uint32_t waypoint_timelast_send; // milliseconds
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uint32_t waypoint_timelast_receive; // milliseconds
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uint32_t waypoint_timelast_request; // milliseconds
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uint16_t waypoint_send_timeout; // milliseconds
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uint16_t waypoint_receive_timeout; // milliseconds
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// waypoints
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uint16_t waypoint_request_i; // request index
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uint16_t waypoint_dest_sysid; // where to send requests
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uint16_t waypoint_dest_compid; // "
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bool waypoint_sending; // currently in send process
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bool waypoint_receiving; // currently receiving
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uint16_t waypoint_count;
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uint32_t waypoint_timelast_send; // milliseconds
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uint32_t waypoint_timelast_receive; // milliseconds
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uint32_t waypoint_timelast_request; // milliseconds
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uint16_t waypoint_send_timeout; // milliseconds
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uint16_t waypoint_receive_timeout; // milliseconds
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// data stream rates. The code assumes that
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// data stream rates. The code assumes that
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// streamRateRawSensors is the first
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AP_Int16 streamRateRawSensors;
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AP_Int16 streamRateExtendedStatus;
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AP_Int16 streamRateRCChannels;
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AP_Int16 streamRateRawController;
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AP_Int16 streamRatePosition;
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AP_Int16 streamRateExtra1;
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AP_Int16 streamRateExtra2;
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AP_Int16 streamRateExtra3;
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AP_Int16 streamRateParams;
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AP_Int16 streamRateRawSensors;
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AP_Int16 streamRateExtendedStatus;
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AP_Int16 streamRateRCChannels;
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AP_Int16 streamRateRawController;
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AP_Int16 streamRatePosition;
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AP_Int16 streamRateExtra1;
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AP_Int16 streamRateExtra2;
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AP_Int16 streamRateExtra3;
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AP_Int16 streamRateParams;
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// number of 50Hz ticks until we next send this stream
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uint8_t stream_ticks[NUM_STREAMS];
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uint8_t stream_ticks[NUM_STREAMS];
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// number of extra ticks to add to slow things down for the radio
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uint8_t stream_slowdown;
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uint8_t stream_slowdown;
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};
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#endif // __GCS_H
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