// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// @file GCS.h /// @brief Interface definition for the various Ground Control System protocols. #ifndef __GCS_H #define __GCS_H #include #include #include #include #include #include /// /// @class GCS /// @brief Class describing the interface between the APM code /// proper and the GCS implementation. /// /// GCS' are currently implemented inside the sketch and as such have /// access to all global state. The sketch should not, however, call GCS /// internal functions - all calls to the GCS should be routed through /// this interface (or functions explicitly exposed by a subclass). /// class GCS_Class { public: /// Startup initialisation. /// /// This routine performs any one-off initialisation required before /// GCS messages are exchanged. /// /// @note The stream is expected to be set up and configured for the /// correct bitrate before ::init is called. /// /// @note The stream is currently BetterStream so that we can use the _P /// methods; this may change if Arduino adds them to Print. /// /// @param port The stream over which messages are exchanged. /// void init(BetterStream *port) { _port = port; } /// Update GCS state. /// /// This may involve checking for received bytes on the stream, /// or sending additional periodic messages. void update(void) {} /// Send a message with a single numeric parameter. /// /// This may be a standalone message, or the GCS driver may /// have its own way of locating additional parameters to send. /// /// @param id ID of the message to send. /// @param param Explicit message parameter. /// void send_message(uint8_t id, int32_t param = 0) {} /// Send a text message. /// /// @param severity A value describing the importance of the message. /// @param str The text to be sent. /// void send_text(uint8_t severity, const char *str) {} #define send_text_P(severity, msg) send_text(severity, msg) /// Send a text message with a PSTR() /// /// @param severity A value describing the importance of the message. /// @param str The text to be sent. /// void send_text(uint8_t severity, const prog_char_t *str) {} /// Send acknowledgement for a message. /// /// @param id The message ID being acknowledged. /// @param sum1 Checksum byte 1 from the message being acked. /// @param sum2 Checksum byte 2 from the message being acked. /// void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) {} /// Emit an update of the "current" waypoints, often previous, current and /// next. /// void print_current_waypoints() {} // // The following interfaces are not currently implemented as their counterparts // are not called in the mainline code. XXX ripe for re-specification. // /// Send a text message with printf-style formatting. /// /// @param severity A value describing the importance of the message. /// @param fmt The format string to send. /// @param ... Additional arguments to the format string. /// // void send_message(uint8_t severity, const char *fmt, ...) {} /// Log a waypoint /// /// @param wp The waypoint to log. /// @param index The index of the waypoint. // void print_waypoint(struct Location *wp, uint8_t index) {} // test if frequency within range requested for loop // used by data_stream_send static bool freqLoopMatch(uint16_t freq, uint16_t freqMin, uint16_t freqMax) { if (freq != 0 && freq >= freqMin && freq < freqMax) return true; else return false; } // send streams which match frequency range void data_stream_send(uint16_t freqMin, uint16_t freqMax); protected: /// The stream we are communicating over BetterStream *_port; }; // // GCS class definitions. // // These are here so that we can declare the GCS object early in the sketch // and then reference it statically rather than via a pointer. // /// /// @class GCS_MAVLINK /// @brief The mavlink protocol for qgroundcontrol /// #if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK || HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK class GCS_MAVLINK : public GCS_Class { public: GCS_MAVLINK(AP_Var::Key key); void update(void); void init(BetterStream *port); void send_message(uint8_t id, uint32_t param = 0); void send_text(uint8_t severity, const char *str); void send_text(uint8_t severity, const prog_char_t *str); void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2); void data_stream_send(uint16_t freqMin, uint16_t freqMax); private: void handleMessage(mavlink_message_t * msg); /// Perform queued sending operations /// void _queued_send(); AP_Var *_queued_parameter; ///< next parameter to be sent in queue uint16_t _queued_parameter_index; ///< next queued parameter's index uint16_t _queued_parameter_count; ///< saved count of parameters for queued send /// Count the number of reportable parameters. /// /// Not all parameters can be reported via MAVlink. We count the number that are /// so that we can report to a GCS the number of parameters it should expect when it /// requests the full set. /// /// @return The number of reportable parameters. /// uint16_t _count_parameters(); ///< count reportable parameters uint16_t _parameter_count; ///< cache of reportable parameters AP_Var *_find_parameter(uint16_t index); ///< find a reportable parameter by index mavlink_channel_t chan; uint16_t packet_drops; // waypoints uint16_t requested_interface; // request port to use uint16_t waypoint_request_i; // request index uint16_t waypoint_dest_sysid; // where to send requests uint16_t waypoint_dest_compid; // " bool waypoint_sending; // currently in send process bool waypoint_receiving; // currently receiving uint16_t waypoint_count; uint32_t waypoint_timelast_send; // milliseconds uint32_t waypoint_timelast_receive; // milliseconds uint16_t waypoint_send_timeout; // milliseconds uint16_t waypoint_receive_timeout; // milliseconds float junk; //used to return a junk value for interface // data stream rates AP_Var_group _group; AP_Int16 streamRateRawSensors; AP_Int16 streamRateExtendedStatus; AP_Int16 streamRateRCChannels; AP_Int16 streamRateRawController; AP_Int16 streamRatePosition; AP_Int16 streamRateExtra1; AP_Int16 streamRateExtra2; AP_Int16 streamRateExtra3; }; #endif // GCS_PROTOCOL_MAVLINK #endif // __GCS_H