Rover: create GCS subclass, use inheritted methods

APMrover2/GCS_Mavlink.cpp

@@ -63,7 +63,7 @@ void Rover::send_heartbeat(mavlink_channel_t chan)
     // indicate we have set a custom mode
     base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
 
-    gcs_chan[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_GROUND_ROVER,
+    gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(MAV_TYPE_GROUND_ROVER,
                                             base_mode,
                                             custom_mode,
                                             system_status);
@@ -1562,7 +1562,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
 void Rover::mavlink_delay_cb()
 {
     static uint32_t last_1hz, last_50hz, last_5s;
-    if (!gcs_chan[0].initialised || in_mavlink_delay) {
+    if (!gcs().chan(0).initialised || in_mavlink_delay) {
         return;
     }
 
@@ -1597,11 +1597,7 @@ void Rover::mavlink_delay_cb()
  */
 void Rover::gcs_send_message(enum ap_message id)
 {
-    for (uint8_t i=0; i < num_gcs; i++) {
+    gcs().send_message(id);
-        if (gcs_chan[i].initialised) {
-            gcs_chan[i].send_message(id);
-        }
-    }
 }
 
 /*
@@ -1609,12 +1605,7 @@ void Rover::gcs_send_message(enum ap_message id)
  */
 void Rover::gcs_send_mission_item_reached_message(uint16_t mission_index)
 {
-    for (uint8_t i=0; i < num_gcs; i++) {
+    gcs().send_mission_item_reached_message(mission_index);
-        if (gcs_chan[i].initialised) {
-            gcs_chan[i].mission_item_reached_index = mission_index;
-            gcs_chan[i].send_message(MSG_MISSION_ITEM_REACHED);
-        }
-    }
 }
 
 /*
@@ -1622,11 +1613,7 @@ void Rover::gcs_send_mission_item_reached_message(uint16_t mission_index)
  */
 void Rover::gcs_data_stream_send(void)
 {
-    for (uint8_t i=0; i < num_gcs; i++) {
+    gcs().data_stream_send();
-        if (gcs_chan[i].initialised) {
-            gcs_chan[i].data_stream_send();
-        }
-    }
 }
 
 /*
@@ -1634,15 +1621,7 @@ void Rover::gcs_data_stream_send(void)
  */
 void Rover::gcs_update(void)
 {
-    for (uint8_t i=0; i < num_gcs; i++) {
+    gcs().update();
-        if (gcs_chan[i].initialised) {
-#if CLI_ENABLED == ENABLED
-            gcs_chan[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Rover::run_cli, void, AP_HAL::UARTDriver *) : nullptr);
-#else
-            gcs_chan[i].update(nullptr);
-#endif
-        }
-    }
 }
 
 void Rover::gcs_send_text(MAV_SEVERITY severity, const char *str)

APMrover2/GCS_Rover.cpp

@@ -0,0 +1,15 @@
+#include "GCS_Rover.h"
+#include "Rover.h"
+
+bool GCS_Rover::cli_enabled() const
+{
+#if CLI_ENABLED == ENABLED
+    return rover.g.cli_enabled;
+#else
+    return false;
+#endif
+}
+
+AP_HAL::BetterStream* GCS_Rover::cliSerial() {
+    return rover.cliSerial;
+}

APMrover2/GCS_Rover.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include <GCS_MAVLink/GCS.h>
+#include "GCS_Mavlink.h"
+
+class GCS_Rover : public GCS
+{
+    friend class Rover; // for access to _chan in parameter declarations
+
+public:
+
+    // return the number of valid GCS objects
+    uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
+
+    // return GCS link at offset ofs
+    GCS_MAVLINK_Rover &chan(const uint8_t ofs) override { return _chan[ofs]; };
+
+private:
+
+    GCS_MAVLINK_Rover _chan[MAVLINK_COMM_NUM_BUFFERS];
+
+    bool cli_enabled() const override;
+    AP_HAL::BetterStream* cliSerial() override;
+
+};

APMrover2/Log.cpp

@@ -473,9 +473,7 @@ void Rover::log_init(void)
 {
     DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
 
-    for (uint8_t i=0; i < num_gcs; i++) {
+    gcs().reset_cli_timeout();
-        gcs_chan[i].reset_cli_timeout();
-    }
 
     if (g.log_bitmask != 0) {
         start_logging();

APMrover2/Parameters.cpp

@@ -402,19 +402,19 @@ const AP_Param::Info Rover::var_info[] = {
 
     // @Group: SR0_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[0], gcs0,        "SR0_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[0], gcs0,        "SR0_",     GCS_MAVLINK),
 
     // @Group: SR1_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),
 
     // @Group: SR2_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),
 
     // @Group: SR3_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),
 
     // @Group: SERIAL
     // @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp

APMrover2/Rover.cpp

@@ -33,7 +33,6 @@ Rover::Rover(void) :
             FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
             FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
             FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
-    num_gcs(MAVLINK_COMM_NUM_BUFFERS),
     ServoRelayEvents(relay),
 #if CAMERA == ENABLED
     camera(&relay),

APMrover2/Rover.h

@@ -86,6 +86,7 @@
 #endif
 #include "Parameters.h"
 #include "GCS_Mavlink.h"
+#include "GCS_Rover.h"
 
 #include <AP_Declination/AP_Declination.h>          // ArduPilot Mega Declination Helper Library
 
@@ -102,6 +103,7 @@ public:
 #if ADVANCED_FAILSAFE == ENABLED
     friend class AP_AdvancedFailsafe_Rover;
 #endif
+    friend class GCS_Rover;
 
     Rover(void);
 
@@ -189,10 +191,8 @@ private:
 
     // GCS handling
     AP_SerialManager serial_manager;
-    const uint8_t num_gcs;
+    GCS_Rover _gcs;  // avoid using this; use gcs()
-    GCS_MAVLINK_Rover gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
+    GCS_Rover &gcs() { return _gcs; }
-    GCS _gcs;  // avoid using this; use gcs()
-    GCS &gcs() { return _gcs; }
 
     // relay support
     AP_Relay relay;

APMrover2/system.cpp

@@ -100,12 +100,19 @@ void Rover::init_ardupilot()
     serial_manager.init();
 
     // setup first port early to allow BoardConfig to report errors
-    gcs_chan[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
+    gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
 
     // Register mavlink_delay_cb, which will run anytime you have
     // more than 5ms remaining in your call to hal.scheduler->delay
     hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
 
+    // specify callback function for CLI menu system
+#if CLI_ENABLED == ENABLED
+    if (gcs().cli_enabled()) {
+        gcs().set_run_cli_func(FUNCTOR_BIND_MEMBER(&Rover::run_cli, void, AP_HAL::UARTDriver *));
+    }
+#endif
+
     BoardConfig.init();
 #if HAL_WITH_UAVCAN
     BoardConfig_CAN.init();
@@ -135,9 +142,7 @@ void Rover::init_ardupilot()
     check_usb_mux();
 
     // setup telem slots with serial ports
-    for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
+    gcs().setup_uarts(serial_manager);
-        gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
-    }
 
     // setup frsky telemetry
 #if FRSKY_TELEM_ENABLED == ENABLED
@@ -193,22 +198,7 @@ void Rover::init_ardupilot()
 
 
 #if CLI_ENABLED == ENABLED
-    // If the switch is in 'menu' mode, run the main menu.
+    gcs().handle_interactive_setup();
-    //
-    // Since we can't be sure that the setup or test mode won't leave
-    // the system in an odd state, we don't let the user exit the top
-    // menu; they must reset in order to fly.
-    //
-    if (g.cli_enabled == 1) {
-        const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
-        cliSerial->printf("%s\n", msg);
-        if (gcs_chan[1].initialised && (gcs_chan[1].get_uart() != nullptr)) {
-            gcs_chan[1].get_uart()->printf("%s\n", msg);
-        }
-        if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != nullptr)) {
-            gcs_chan[2].get_uart()->printf("%s\n", msg);
-        }
-    }
 #endif
 
     init_capabilities();