AP_GPS: move GPS type announcements into backend

See #4584

libraries/AP_GPS/AP_GPS.cpp

@@ -550,10 +550,10 @@ void AP_GPS::detect_instance(uint8_t instance)
 
 found_gps:
     if (new_gps != nullptr) {
-        _broadcast_gps_type(instance);
         state[instance].status = NO_FIX;
         drivers[instance] = new_gps;
         timing[instance].last_message_time_ms = now;
+        new_gps->broadcast_gps_type();
     }
 }
 
@@ -948,38 +948,6 @@ bool AP_GPS::blend_health_check() const
     return (_blend_health_counter < 50);
 }
 
-void AP_GPS::_detection_message(char *buffer, uint8_t buflen, uint8_t instance)
-{
-    AP_GPS_Backend *driver = drivers[instance];
-    if (driver == nullptr) {
-        // we really shouldn't have been called
-        buffer[0] = '\0';
-        return;
-    }
-
-    const struct detect_state dstate = detect_state[instance];
-    if (dstate.detect_started_ms > 0) {
-        hal.util->snprintf(buffer, buflen,
-                 "GPS %d: detected as %s at %d baud",
-                 instance + 1,
-                 driver->name(),
-                 _baudrates[dstate.current_baud]);
-    } else {
-        hal.util->snprintf(buffer, buflen,
-                 "GPS %d: specified as %s",
-                 instance + 1,
-                 driver->name());
-    }
-}
-
-
-void AP_GPS::_broadcast_gps_type(uint8_t instance)
-{
-    char buffer[64];
-    _detection_message(buffer, sizeof(buffer), instance);
-    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, buffer);
-}
-
 /*
    re-assemble GPS_RTCM_DATA message
  */
@@ -1070,12 +1038,10 @@ void AP_GPS::Write_DataFlash_Log_Startup_messages()
     }
 
     for (uint8_t instance=0; instance<num_instances; instance++) {
-        char buffer[64];
-        _detection_message(buffer, sizeof(buffer), instance);
         if (drivers[instance] == nullptr || state[instance].status == NO_GPS) {
             continue;
         }
-        _DataFlash->Log_Write_Message(buffer);
+        drivers[instance]->Write_DataFlash_Log_Startup_messages();
     }
 }
 

libraries/AP_GPS/AP_GPS.h

@@ -19,7 +19,6 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 #include "GPS_detect_state.h"
 #include <AP_SerialManager/AP_SerialManager.h>
@@ -444,9 +443,6 @@ private:
     void detect_instance(uint8_t instance);
     void update_instance(uint8_t instance);
 
-    void _detection_message(char *buffer, uint8_t buflen, uint8_t instance);
-    void _broadcast_gps_type(uint8_t instance);
-
     /*
       buffer for re-assembling RTCM data for GPS injection.
       The 8 bit flags field in GPS_RTCM_DATA is interpreted as:

libraries/AP_GPS/GPS_Backend.cpp

@@ -24,6 +24,8 @@
  # define Debug(fmt, args ...)
 #endif
 
+#include <GCS_MAVLink/GCS.h> // for send_statustext_all
+
 extern const AP_HAL::HAL& hal;
 
 AP_GPS_Backend::AP_GPS_Backend(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
@@ -134,3 +136,36 @@ AP_GPS_Backend::inject_data(const uint8_t *data, uint16_t len)
     }
 }
 
+void AP_GPS_Backend::_detection_message(char *buffer, const uint8_t buflen) const
+{
+    const uint8_t instance = state.instance;
+    const struct AP_GPS::detect_state dstate = gps.detect_state[instance];
+
+    if (dstate.detect_started_ms > 0) {
+        hal.util->snprintf(buffer, buflen,
+                 "GPS %d: detected as %s at %d baud",
+                 instance + 1,
+                 name(),
+                 gps._baudrates[dstate.current_baud]);
+    } else {
+        hal.util->snprintf(buffer, buflen,
+                 "GPS %d: specified as %s",
+                 instance + 1,
+                 name());
+    }
+}
+
+
+void AP_GPS_Backend::broadcast_gps_type() const
+{
+    char buffer[64];
+    _detection_message(buffer, sizeof(buffer));
+    GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, buffer);
+}
+
+void AP_GPS_Backend::Write_DataFlash_Log_Startup_messages() const
+{
+    char buffer[64];
+    _detection_message(buffer, sizeof(buffer));
+    gps._DataFlash->Log_Write_Message(buffer);
+}

libraries/AP_GPS/GPS_Backend.h

@@ -58,6 +58,9 @@ public:
 
     virtual const char *name() const = 0;
 
+    void broadcast_gps_type() const;
+    virtual void Write_DataFlash_Log_Startup_messages() const;
+
 protected:
     AP_HAL::UARTDriver *port;           ///< UART we are attached to
     AP_GPS &gps;                        ///< access to frontend (for parameters)
@@ -77,4 +80,6 @@ protected:
        assumes MTK19 millisecond form of bcd_time
     */
     void make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds);
+
+    void _detection_message(char *buffer, uint8_t buflen) const;
 };