From c11da6a85dbdc13ee138b11bc5a8519084a5d018 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 20 Jun 2019 10:46:01 +1000
Subject: [PATCH] GCS_MAVLink: routing example: use GCS_Dummy in place of
 custom GCS

---
 .../GCS_MAVLink/examples/routing/routing.cpp  | 53 ++-----------------
 1 file changed, 3 insertions(+), 50 deletions(-)

diff --git a/libraries/GCS_MAVLink/examples/routing/routing.cpp b/libraries/GCS_MAVLink/examples/routing/routing.cpp
index 195feb1c14..5ea5ec3f12 100644
--- a/libraries/GCS_MAVLink/examples/routing/routing.cpp
+++ b/libraries/GCS_MAVLink/examples/routing/routing.cpp
@@ -5,6 +5,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
+#include <GCS_MAVLink/GCS_Dummy.h>
 #include <AP_Common/AP_FWVersion.h>
 
 void setup();
@@ -12,55 +13,7 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-const AP_FWVersion AP_FWVersion::fwver
-{
-    major: 3,
-    minor: 1,
-    patch: 4,
-    fw_type: FIRMWARE_VERSION_TYPE_DEV,
-    fw_string: "routing example",
-    fw_hash_str: "",
-    middleware_name: "",
-    middleware_hash_str: "",
-    os_name: "",
-    os_hash_str: "",
-    os_sw_version: 0
-};
-
-const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] {};
-
-class GCS_MAVLINK_routing : public GCS_MAVLINK
-{
-
-public:
-
-protected:
-
-    uint32_t telem_delay() const override { return 0; }
-    uint8_t sysid_my_gcs() const override { return 1; }
-    bool set_mode(uint8_t mode) override { return false; };
-
-    // dummy information:
-    MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
-    MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
-    void send_nav_controller_output() const override {};
-    void send_pid_tuning() override {};
-
-    bool set_home_to_current_location(bool lock) override { return false; }
-    bool set_home(const Location& loc, bool lock) override { return false; }
-
-private:
-
-    void handleMessage(mavlink_message_t * msg) override { }
-    bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return false ; }
-    void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override { }
-    bool try_send_message(enum ap_message id) override { return false; }
-
-};
-
-
-static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
-static GCS_MAVLINK_routing gcs_link[num_gcs];
+GCS_Dummy _gcs;
 
 extern mavlink_system_t mavlink_system;
 
@@ -73,7 +26,7 @@ static MAVLink_routing routing;
 void setup(void)
 {
     hal.console->printf("routing test startup...");
-    gcs_link[0].init(hal.uartA, MAVLINK_COMM_0);
+    gcs().chan(0).init(hal.uartA, MAVLINK_COMM_0);
 }
 
 void loop(void)