Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Sub: create GCS subclass, use inheritted methods

Browse Source 
This also adds a patch to set up gcs channel 0 early to make
BoardConfig happy
This commit is contained in:
Peter Barker 2017-02-22 11:54:56 +11:00 committed by Francisco Ferreira
parent d9b45cc202
commit fadff24674
7 changed files with 57 additions and 37 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

29
ArduSub/GCS_Mavlink.cpp
View File

@ -76,7 +76,7 @@ NOINLINE void Sub::send_heartbeat(mavlink_channel_t chan)
uint8_t mav_type;
mav_type = MAV_TYPE_SUBMARINE;
gcs_chan[chan-MAVLINK_COMM_0].send_heartbeat(mav_type,
gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(mav_type,
base_mode,
custom_mode,
system_status);
@ -1804,7 +1804,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
void Sub::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;
}
@ -1838,11 +1838,7 @@ void Sub::mavlink_delay_cb()
*/
void Sub::gcs_send_message(enum ap_message id)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs_chan[i].initialised) {
gcs_chan[i].send_message(id);
}
}
gcs().send_message(id);
}
/*
@ -1850,12 +1846,7 @@ void Sub::gcs_send_message(enum ap_message id)
*/
void Sub::gcs_send_mission_item_reached_message(uint16_t mission_index)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs_chan[i].initialised) {
gcs_chan[i].mission_item_reached_index = mission_index;
gcs_chan[i].send_message(MSG_MISSION_ITEM_REACHED);
}
}
gcs().send_mission_item_reached_message(mission_index);
}
/*
@ -1863,11 +1854,7 @@ void Sub::gcs_send_mission_item_reached_message(uint16_t mission_index)
*/
void Sub::gcs_data_stream_send(void)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs_chan[i].initialised) {
gcs_chan[i].data_stream_send();
}
}
gcs().data_stream_send();
}
/*
@ -1875,11 +1862,7 @@ void Sub::gcs_data_stream_send(void)
*/
void Sub::gcs_check_input(void)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs_chan[i].initialised) {
gcs_chan[i].update(NULL);
}
}
gcs().update();
}
void Sub::gcs_send_text(MAV_SEVERITY severity, const char *str)

11
ArduSub/GCS_Sub.cpp Normal file
View File

@ -0,0 +1,11 @@
#include "GCS_Sub.h"
#include "Sub.h"
bool GCS_Sub::cli_enabled() const
{
return false;
}
AP_HAL::BetterStream* GCS_Sub::cliSerial() {
return NULL;
}

27
ArduSub/GCS_Sub.h Normal file
View File

@ -0,0 +1,27 @@
#pragma once
#include <GCS_MAVLink/GCS.h>
#include "GCS_Mavlink.h"
class GCS_Sub : public GCS
{
friend class Sub; // 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_Sub &chan(const uint8_t ofs) override {
return _chan[ofs];
};
private:
GCS_MAVLINK_Sub _chan[MAVLINK_COMM_NUM_BUFFERS];
bool cli_enabled() const override;
AP_HAL::BetterStream* cliSerial() override;
};

4
ArduSub/Log.cpp
View File

@ -486,9 +486,7 @@ void Sub::log_init(void)
{
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
for (uint8_t i=0; i<num_gcs; i++) {
gcs_chan[i].reset_cli_timeout();
}
gcs().reset_cli_timeout();
}
#else // LOGGING_ENABLED

8
ArduSub/Parameters.cpp
View File

@ -584,19 +584,19 @@ const AP_Param::Info Sub::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: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp

8
ArduSub/Sub.h
View File

@ -81,6 +81,7 @@
#include "GCS_Mavlink.h"
#include "Parameters.h"
#include "AP_Arming_Sub.h"
#include "GCS_Sub.h"
// libraries which are dependent on #defines in defines.h and/or config.h
#if OPTFLOW == ENABLED
@ -122,6 +123,7 @@
class Sub : public AP_HAL::HAL::Callbacks {
public:
friend class GCS_MAVLINK_Sub;
friend class GCS_Sub;
friend class Parameters;
friend class ParametersG2;
friend class AP_Arming_Sub;
@ -207,11 +209,9 @@ private:
// GCS selection
AP_SerialManager serial_manager;
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
GCS_MAVLINK_Sub gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
GCS _gcs; // avoid using this; use gcs()
GCS &gcs() { return _gcs; }
GCS_Sub _gcs; // avoid using this; use gcs()
GCS_Sub &gcs() { return _gcs; }
// User variables
#ifdef USERHOOK_VARIABLES

7
ArduSub/system.cpp
View File

@ -41,6 +41,9 @@ void Sub::init_ardupilot()
// initialise serial port
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);
// init cargo gripper
#if GRIPPER_ENABLED == ENABLED
g2.gripper.init();
@ -62,9 +65,7 @@ void Sub::init_ardupilot()
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
gcs().setup_uarts(serial_manager);
#if LOGGING_ENABLED == ENABLED
log_init();