Plane: use common GCS.h

ArduPlane/GCS.h

@@ -1,209 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-/// @file	GCS.h
-/// @brief	Interface definition for the various Ground Control System
-// protocols.
-
-#ifndef __GCS_H
-#define __GCS_H
-
-#include <AP_HAL.h>
-#include <AP_Common.h>
-#include <GPS.h>
-#include <stdint.h>
-
-///
-/// @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
-///
-class GCS_MAVLINK : public GCS_Class
-{
-public:
-    GCS_MAVLINK();
-    void        update(void);
-    void        init(AP_HAL::UARTDriver *port);
-    void        send_message(enum ap_message id);
-    void        send_text(gcs_severity severity, const char *str);
-    void        send_text_P(gcs_severity severity, const prog_char_t *str);
-    void        data_stream_send(void);
-    void        queued_param_send();
-    void        queued_waypoint_send();
-
-    static const struct AP_Param::GroupInfo        var_info[];
-
-    // NOTE! The streams enum below and the
-    // set of AP_Int16 stream rates _must_ be
-    // kept in the same order
-    enum streams {STREAM_RAW_SENSORS,
-                  STREAM_EXTENDED_STATUS,
-                  STREAM_RC_CHANNELS,
-                  STREAM_RAW_CONTROLLER,
-                  STREAM_POSITION,
-                  STREAM_EXTRA1,
-                  STREAM_EXTRA2,
-                  STREAM_EXTRA3,
-                  STREAM_PARAMS,
-                  NUM_STREAMS};
-
-    // see if we should send a stream now. Called at 50Hz
-    bool        stream_trigger(enum streams stream_num);
-
-	// this costs us 51 bytes per instance, but means that low priority
-	// messages don't block the CPU
-    mavlink_statustext_t pending_status;
-
-    // call to reset the timeout window for entering the cli
-    void reset_cli_timeout();
-private:
-    void        handleMessage(mavlink_message_t * msg);
-
-    /// Perform queued sending operations
-    ///
-    AP_Param *                  _queued_parameter;      ///< next parameter to
-                                                        // be sent in queue
-    enum ap_var_type            _queued_parameter_type; ///< type of the next
-                                                        // parameter
-    AP_Param::ParamToken        _queued_parameter_token; ///AP_Param token for
-                                                         // next() call
-    uint16_t                    _queued_parameter_index; ///< next queued
-                                                         // parameter's index
-    uint16_t                    _queued_parameter_count; ///< saved count of
-                                                         // parameters for
-                                                         // queued send
-    uint32_t                    _queued_parameter_send_time_ms;
-
-    /// Count the number of reportable parameters.
-    ///
-    /// Not all parameters can be reported via MAVlink.  We count the number
-    // that are
-    /// so that we can report to a GCS the number of parameters it should
-    // expect when it
-    /// requests the full set.
-    ///
-    /// @return         The number of reportable parameters.
-    ///
-    uint16_t                    _count_parameters(); ///< count reportable
-                                                     // parameters
-
-    uint16_t                    _parameter_count;   ///< cache of reportable
-                                                    // parameters
-
-    mavlink_channel_t           chan;
-    uint16_t                    packet_drops;
-
-#if CLI_ENABLED == ENABLED
-    // this allows us to detect the user wanting the CLI to start
-    uint8_t        crlf_count;
-#endif
-
-    // waypoints
-    uint16_t        waypoint_request_i; // request index
-    uint16_t        waypoint_request_last; // last request index
-    uint16_t        waypoint_dest_sysid; // where to send requests
-    uint16_t        waypoint_dest_compid; // "
-    bool            waypoint_receiving; // currently receiving
-    uint16_t        waypoint_count;
-    uint32_t        waypoint_timelast_send; // milliseconds
-    uint32_t        waypoint_timelast_receive; // milliseconds
-    uint32_t        waypoint_timelast_request; // milliseconds
-    uint16_t        waypoint_send_timeout; // milliseconds
-    uint16_t        waypoint_receive_timeout; // milliseconds
-
-    // saveable rate of each stream
-    AP_Int16        streamRates[NUM_STREAMS];
-
-    // number of 50Hz ticks until we next send this stream
-    uint8_t         stream_ticks[NUM_STREAMS];
-
-    // number of extra ticks to add to slow things down for the radio
-    uint8_t         stream_slowdown;
-
-    // millis value to calculate cli timeout relative to.
-    // exists so we can separate the cli entry time from the system start time
-    uint32_t _cli_timeout;
-};
-
-#endif // __GCS_H

ArduPlane/GCS_Mavlink.pde

@@ -129,7 +129,7 @@ static NOINLINE void send_fence_status(mavlink_channel_t chan)
 #endif
 
 
-static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
+static NOINLINE void send_extended_status1(mavlink_channel_t chan)
 {
     uint32_t control_sensors_present;
     uint32_t control_sensors_enabled;
@@ -601,7 +601,7 @@ static bool telemetry_delayed(mavlink_channel_t chan)
 
 
 // try to send a message, return false if it won't fit in the serial tx buffer
-static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
+static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id)
 {
     int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
 
@@ -625,7 +625,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
 
     case MSG_EXTENDED_STATUS1:
         CHECK_PAYLOAD_SIZE(SYS_STATUS);
-        send_extended_status1(chan, packet_drops);
+        send_extended_status1(chan);
         break;
 
     case MSG_EXTENDED_STATUS2:
@@ -764,7 +764,7 @@ static struct mavlink_queue {
 } mavlink_queue[MAVLINK_COMM_NUM_BUFFERS];
 
 // send a message using mavlink
-static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
+static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id)
 {
     uint8_t i, nextid;
     struct mavlink_queue *q = &mavlink_queue[(uint8_t)chan];
@@ -772,8 +772,7 @@ static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id, uin
     // see if we can send the deferred messages, if any
     while (q->num_deferred_messages != 0) {
         if (!mavlink_try_send_message(chan,
-                                      q->deferred_messages[q->next_deferred_message],
+                                      q->deferred_messages[q->next_deferred_message])) {
-                                      packet_drops)) {
             break;
         }
         q->next_deferred_message++;
@@ -800,7 +799,7 @@ static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id, uin
     }
 
     if (q->num_deferred_messages != 0 ||
-        !mavlink_try_send_message(chan, id, packet_drops)) {
+        !mavlink_try_send_message(chan, id)) {
         // can't send it now, so defer it
         if (q->num_deferred_messages == MAX_DEFERRED_MESSAGES) {
             // the defer buffer is full, discard
@@ -826,7 +825,7 @@ void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char
         mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
         s->severity = (uint8_t)severity;
         strncpy((char *)s->text, str, sizeof(s->text));
-        mavlink_send_message(chan, MSG_STATUSTEXT, 0);
+        mavlink_send_message(chan, MSG_STATUSTEXT);
     } else {
         // send immediately
         mavlink_msg_statustext_send(chan, severity, str);
@@ -922,8 +921,6 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
 
 
 GCS_MAVLINK::GCS_MAVLINK() :
-    packet_drops(0),
-    waypoint_send_timeout(1000), // 1 second
     waypoint_receive_timeout(1000) // 1 second
 {
     AP_Param::setup_object_defaults(this, var_info);
@@ -993,9 +990,6 @@ GCS_MAVLINK::update(void)
         }
     }
 
-    // Update packet drops counter
-    packet_drops += status.packet_rx_drop_count;
-
     if (!waypoint_receiving) {
         return;
     }
@@ -1148,7 +1142,7 @@ GCS_MAVLINK::data_stream_send(void)
 void
 GCS_MAVLINK::send_message(enum ap_message id)
 {
-    mavlink_send_message(chan,id, packet_drops);
+    mavlink_send_message(chan, id);
 }
 
 void
@@ -1408,7 +1402,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             msg->compid,
             g.command_total + 1);     // + home
 
-        waypoint_timelast_send   = millis();
         waypoint_receiving       = false;
         waypoint_dest_sysid      = msg->sysid;
         waypoint_dest_compid     = msg->compid;
@@ -1526,9 +1519,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                                       x,
                                       y,
                                       z);
-
-        // update last waypoint comm stamp
-        waypoint_timelast_send = millis();
         break;
     }
 
@@ -2409,11 +2399,11 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...)
 #if LOGGING_ENABLED == ENABLED
     DataFlash.Log_Write_Message(gcs[0].pending_status.text);
 #endif
-    mavlink_send_message(MAVLINK_COMM_0, MSG_STATUSTEXT, 0);
+    mavlink_send_message(MAVLINK_COMM_0, MSG_STATUSTEXT);
     for (uint8_t i=1; i<num_gcs; i++) {
         if (gcs[i].initialised) {
             gcs[i].pending_status = gcs[0].pending_status;
-            mavlink_send_message((mavlink_channel_t)i, MSG_STATUSTEXT, 0);
+            mavlink_send_message((mavlink_channel_t)i, MSG_STATUSTEXT);
         }
     }
 }