ardupilot/libraries/GCS_MAVLink/GCS.cpp

71 lines
2.2 KiB
C++

#include "GCS.h"
extern const AP_HAL::HAL& hal;
/*
send a text message to all GCS
*/
void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list)
{
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
hal.util->vsnprintf((char *)text, sizeof(text)-1, fmt, arg_list);
send_statustext(severity, GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask(), text);
}
void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
{
va_list arg_list;
va_start(arg_list, fmt);
send_textv(severity, fmt, arg_list);
va_end(arg_list);
}
#define FOR_EACH_ACTIVE_CHANNEL(methodcall) \
do { \
for (uint8_t i=0; i<num_gcs(); i++) { \
if (!chan(i).initialised) { \
continue; \
} \
if (!(GCS_MAVLINK::active_channel_mask() & (1 << (chan(i).get_chan()-MAVLINK_COMM_0)))) { \
continue; \
} \
chan(i).methodcall; \
} \
} while (0)
void GCS::send_named_float(const char *name, float value) const
{
FOR_EACH_ACTIVE_CHANNEL(send_named_float(name, value));
}
void GCS::send_home() const
{
FOR_EACH_ACTIVE_CHANNEL(send_home());
}
void GCS::send_ekf_origin() const
{
FOR_EACH_ACTIVE_CHANNEL(send_ekf_origin());
}
/*
install an alternative protocol handler. This allows another
protocol to take over the link if MAVLink goes idle. It is used to
allow for the AP_BLHeli pass-thru protocols to run on hal.uartA
*/
bool GCS::install_alternative_protocol(mavlink_channel_t c, GCS_MAVLINK::protocol_handler_fn_t handler)
{
if (c >= num_gcs()) {
return false;
}
if (chan(c).alternative.handler && handler) {
// already have one installed - we may need to add support for
// multiple alternative handlers
return false;
}
chan(c).alternative.handler = handler;
return true;
}
#undef FOR_EACH_ACTIVE_CHANNEL