From df190d1e86fcdd2dda6c3dcfd3f866c78d12c665 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 27 May 2016 23:14:08 +1000
Subject: [PATCH] Tracker: subclass GCS_MAVLink in place of defining its
 functions for it

---
 AntennaTracker/GCS_Mavlink.cpp | 14 ++++++++------
 AntennaTracker/GCS_Mavlink.h   | 22 ++++++++++++++++++++++
 AntennaTracker/Tracker.h       |  7 +++----
 3 files changed, 33 insertions(+), 10 deletions(-)
 create mode 100644 AntennaTracker/GCS_Mavlink.h

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index edc3329732..6938567f88 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -1,5 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "GCS_Mavlink.h"
+
 #include "Tracker.h"
 #include "version.h"
 
@@ -150,19 +152,19 @@ void Tracker::send_simstate(mavlink_channel_t chan)
 #endif
 }
 
-bool GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command&)
+bool GCS_MAVLINK_Tracker::handle_guided_request(AP_Mission::Mission_Command&)
 {
     // do nothing
     return false;
 }
 
-void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command&)
+void GCS_MAVLINK_Tracker::handle_change_alt_request(AP_Mission::Mission_Command&)
 {
     // do nothing
 }
 
 // try to send a message, return false if it won't fit in the serial tx buffer
-bool GCS_MAVLINK::try_send_message(enum ap_message id)
+bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
 {
     switch (id) {
     case MSG_HEARTBEAT:
@@ -375,7 +377,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     AP_GROUPEND
 };
 
-float GCS_MAVLINK::adjust_rate_for_stream_trigger(enum streams stream_num)
+float GCS_MAVLINK_Tracker::adjust_rate_for_stream_trigger(enum streams stream_num)
 {
     if (_queued_parameter != nullptr) {
         return 0.25f;
@@ -385,7 +387,7 @@ float GCS_MAVLINK::adjust_rate_for_stream_trigger(enum streams stream_num)
 }
 
 void
-GCS_MAVLINK::data_stream_send(void)
+GCS_MAVLINK_Tracker::data_stream_send(void)
 {
     if (_queued_parameter != NULL) {
         if (streamRates[STREAM_PARAMS].get() <= 0) {
@@ -535,7 +537,7 @@ void Tracker::mavlink_check_target(const mavlink_message_t* msg)
     target_set = true;
 }
 
-void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
+void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
 {
     switch (msg->msgid) {
 
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
new file mode 100644
index 0000000000..9343016dca
--- /dev/null
+++ b/AntennaTracker/GCS_Mavlink.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <GCS_MAVLink/GCS.h>
+
+class GCS_MAVLINK_Tracker : public GCS_MAVLINK
+{
+
+public:
+
+    void data_stream_send(void) override;
+
+protected:
+
+private:
+
+    float adjust_rate_for_stream_trigger(enum streams stream_num) override;
+    void handleMessage(mavlink_message_t * msg) override;
+    bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
+    void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
+    bool try_send_message(enum ap_message id) override;
+
+};
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 1462d22ce6..61bdc54a6b 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -43,7 +43,6 @@
 #include <Filter/Filter.h>                     // Filter library
 #include <AP_Buffer/AP_Buffer.h>      // APM FIFO Buffer
 
-#include <GCS_MAVLink/GCS_MAVLink.h>    // MAVLink GCS definitions
 #include <AP_SerialManager/AP_SerialManager.h>   // Serial manager library
 #include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
 #include <DataFlash/DataFlash.h>
@@ -69,7 +68,7 @@
 #include "defines.h"
 
 #include "Parameters.h"
-#include <GCS_MAVLink/GCS.h>
+#include "GCS_Mavlink.h"
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
@@ -77,7 +76,7 @@
 
 class Tracker : public AP_HAL::HAL::Callbacks {
 public:
-    friend class GCS_MAVLINK;
+    friend class GCS_MAVLINK_Tracker;
     friend class Parameters;
 
     Tracker(void);
@@ -135,7 +134,7 @@ private:
 
     AP_SerialManager serial_manager;
     const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
-    GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
+    GCS_MAVLINK_Tracker gcs[MAVLINK_COMM_NUM_BUFFERS];
 
     AP_BoardConfig BoardConfig;