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AP_GPS: Unify inject_data interface for all classes

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This commit is contained in:
Michael du Breuil 2017-04-18 13:05:56 -07:00 committed by Francisco Ferreira
parent 88e02c7b35
commit 6f297deaf7
10 changed files with 24 additions and 55 deletions
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11
libraries/AP_GPS/AP_GPS_ERB.cpp
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@ -223,17 +223,6 @@ AP_GPS_ERB::_parse_gps(void)
return false;
}
void
AP_GPS_ERB::inject_data(const uint8_t *data, uint16_t len)
{
if (port->txspace() > len) {
port->write(data, len);
} else {
Debug("ERB: Not enough TXSPACE");
}
}
/*
detect a ERB GPS. Adds one byte, and returns true if the stream
matches a ERB

2
libraries/AP_GPS/AP_GPS_ERB.h
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@ -133,8 +133,6 @@ private:
// Buffer parse & GPS state update
bool _parse_gps();
void inject_data(const uint8_t *data, uint16_t len) override;
// used to update fix between status and position packets
AP_GPS::GPS_Status next_fix;
};

10
libraries/AP_GPS/AP_GPS_GSOF.cpp
View File

@ -342,13 +342,3 @@ AP_GPS_GSOF::process_message(void)
return false;
}
void
AP_GPS_GSOF::inject_data(const uint8_t *data, uint16_t len)
{
if (port->txspace() > len) {
last_injected_data_ms = AP_HAL::millis();
port->write(data, len);
} else {
Debug("GSOF: Not enough TXSPACE");
}
}

4
libraries/AP_GPS/AP_GPS_GSOF.h
View File

@ -34,8 +34,6 @@ public:
// Methods
bool read();
void inject_data(const uint8_t *data, uint16_t len) override;
private:
bool parse(uint8_t temp);
@ -81,6 +79,4 @@ private:
uint32_t gsofmsg_time = 0;
uint8_t gsofmsgreq_index = 0;
uint8_t gsofmsgreq[5] = {1,2,8,9,12};
uint32_t last_injected_data_ms = 0;
};

11
libraries/AP_GPS/AP_GPS_SBF.cpp
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@ -292,14 +292,3 @@ AP_GPS_SBF::process_message(void)
return false;
}
void
AP_GPS_SBF::inject_data(const uint8_t *data, uint16_t len)
{
if (port->txspace() > len) {
last_injected_data_ms = AP_HAL::millis();
port->write(data, len);
} else {
Debug("SBF: Not enough TXSPACE");
}
}

2
libraries/AP_GPS/AP_GPS_SBF.h
View File

@ -34,8 +34,6 @@ public:
// Methods
bool read();
void inject_data(const uint8_t *data, uint16_t len) override;
private:
bool parse(uint8_t temp);

11
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -1275,17 +1275,6 @@ AP_GPS_UBLOX::_configure_rate(void)
_send_message(CLASS_CFG, MSG_CFG_RATE, &msg, sizeof(msg));
}
void
AP_GPS_UBLOX::inject_data(const uint8_t *data, uint16_t len)
{
if (port->txspace() > len) {
port->write(data, len);
} else {
Debug("UBX: Not enough TXSPACE");
}
}
static const char *reasons[] = {"navigation rate",
"posllh rate",
"status rate",

2
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -101,8 +101,6 @@ public:
static bool _detect(struct UBLOX_detect_state &state, uint8_t data);
void inject_data(const uint8_t *data, uint16_t len) override;
bool is_configured(void) {
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (!gps._auto_config) {

22
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -16,6 +16,14 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#define GPS_BACKEND_DEBUGGING 0
#if GPS_BACKEND_DEBUGGING
# define Debug(fmt, args ...) do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
#else
# define Debug(fmt, args ...)
#endif
extern const AP_HAL::HAL& hal;
AP_GPS_Backend::AP_GPS_Backend(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
@ -112,3 +120,17 @@ void AP_GPS_Backend::fill_3d_velocity(void)
state.velocity.z = 0;
state.have_vertical_velocity = false;
}
void
AP_GPS_Backend::inject_data(const uint8_t *data, uint16_t len)
{
// not all backends have valid ports
if (port != nullptr) {
if (port->txspace() > len) {
port->write(data, len);
} else {
Debug("GPS %d: Not enough TXSPACE", state.instance + 1);
}
}
}

4
libraries/AP_GPS/GPS_Backend.h
View File

@ -24,7 +24,7 @@
class AP_GPS_Backend
{
public:
AP_GPS_Backend(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
AP_GPS_Backend(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
// we declare a virtual destructor so that GPS drivers can
// override with a custom destructor if need be.
@ -41,7 +41,7 @@ public:
virtual bool is_configured(void) { return true; }
virtual void inject_data(const uint8_t *data, uint16_t len) { return; }
virtual void inject_data(const uint8_t *data, uint16_t len);
//MAVLink methods
virtual void send_mavlink_gps_rtk(mavlink_channel_t chan) { return ; }