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GCS_MAVLink: add send_textv functions

This commit is contained in:
Peter Barker 2017-08-01 15:13:34 +10:00
parent b94e31b21a
commit a44c1378f7
3 changed files with 17 additions and 8 deletions
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12
libraries/GCS_MAVLink/GCS.cpp
View File

@ -5,15 +5,19 @@ extern const AP_HAL::HAL& hal;
/* /*
send a text message to all GCS send a text message to all GCS
*/ */
void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...) void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list)
{ {
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {}; char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
hal.util->vsnprintf((char *)text, sizeof(text)-1, fmt, arg_list);
send_statustext(severity, GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask(), text);
}
void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
{
va_list arg_list; va_list arg_list;
va_start(arg_list, fmt); va_start(arg_list, fmt);
hal.util->vsnprintf((char *)text, sizeof(text)-1, fmt, arg_list); send_textv(severity, fmt, arg_list);
va_end(arg_list); va_end(arg_list);
text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] = 0;
send_statustext(severity, GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask(), text);
} }
#define FOR_EACH_ACTIVE_CHANNEL(methodcall) \ #define FOR_EACH_ACTIVE_CHANNEL(methodcall) \

2
libraries/GCS_MAVLink/GCS.h
View File

@ -109,6 +109,7 @@ public:
void setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance); void setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance);
void send_message(enum ap_message id); void send_message(enum ap_message id);
void send_text(MAV_SEVERITY severity, const char *fmt, ...); void send_text(MAV_SEVERITY severity, const char *fmt, ...);
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list);
void data_stream_send(); void data_stream_send();
void queued_param_send(); void queued_param_send();
void queued_waypoint_send(); void queued_waypoint_send();
@ -580,6 +581,7 @@ public:
} }
void send_text(MAV_SEVERITY severity, const char *fmt, ...); void send_text(MAV_SEVERITY severity, const char *fmt, ...);
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list);
virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text); virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
void service_statustext(void); void service_statustext(void);
virtual GCS_MAVLINK &chan(const uint8_t ofs) = 0; virtual GCS_MAVLINK &chan(const uint8_t ofs) = 0;

11
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -606,15 +606,18 @@ void GCS_MAVLINK::handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg)
} }
void GCS_MAVLINK::send_text(MAV_SEVERITY severity, const char *fmt, ...) void GCS_MAVLINK::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list)
{ {
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {}; char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
hal.util->vsnprintf((char *)text, sizeof(text)-1, fmt, arg_list);
gcs().send_statustext(severity, (1<<chan), text);
}
void GCS_MAVLINK::send_text(MAV_SEVERITY severity, const char *fmt, ...)
{
va_list arg_list; va_list arg_list;
va_start(arg_list, fmt); va_start(arg_list, fmt);
hal.util->vsnprintf((char *)text, sizeof(text), fmt, arg_list); send_textv(severity, fmt, arg_list);
va_end(arg_list); va_end(arg_list);
text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] = 0;
gcs().send_statustext(severity, (1<<chan), text);
} }
void GCS_MAVLINK::handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio) void GCS_MAVLINK::handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio)