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GCS_MAVLINK: provide a GCS singleton for examples and tools to use

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Peter Barker 2017-07-03 08:58:45 +10:00 committed by Francisco Ferreira
parent fadff24674
commit 3f43789742
1 changed files with 31 additions and 0 deletions
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31
libraries/GCS_MAVLink/GCS_Dummy.h Normal file
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#include "GCS.h"
/*
* GCS backend used for many examples and tools
*/
class GCS_MAVLINK_Dummy : public GCS_MAVLINK
{
void data_stream_send(void) override {}
uint32_t telem_delay() const override { return 0; }
void handleMessage(mavlink_message_t * msg) override {}
bool try_send_message(enum ap_message id) { return true; }
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; }
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override {}
};
/*
* a GCS singleton used for many example sketches and tools
*/
extern const AP_HAL::HAL& hal;
class GCS_Dummy : public GCS
{
GCS_MAVLINK_Dummy dummy_backend;
uint8_t num_gcs() const override { return 1; }
GCS_MAVLINK &chan(const uint8_t ofs) override { return dummy_backend; }
bool cli_enabled() const override { return false; }
AP_HAL::BetterStream* cliSerial() { return nullptr; }
void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) { hal.console->printf("TOGCS: %s\n", text); }
};