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Tracker: subclass GCS_MAVLink in place of defining its functions for it

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This commit is contained in:
Peter Barker 2016-05-27 23:14:08 +10:00 committed by Andrew Tridgell
parent a1c97f4585
commit df190d1e86
3 changed files with 33 additions and 10 deletions
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14
AntennaTracker/GCS_Mavlink.cpp
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@ -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) {

22
AntennaTracker/GCS_Mavlink.h Normal file
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@ -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;
};

7
AntennaTracker/Tracker.h
View File

@ -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;