ardupilot/libraries/GCS_MAVLink/examples/routing/routing.cpp
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00

134 lines
4.2 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
// Simple test for the GCS_MAVLink routing
//
#include <stdarg.h>
#include <AP_Common/AP_Common.h>
#include <AP_Progmem/AP_Progmem.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL_AVR/AP_HAL_AVR.h>
#include <AP_HAL_SITL/AP_HAL_SITL.h>
#include <AP_HAL_Linux/AP_HAL_Linux.h>
#include <AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h>
#include <AP_HAL_PX4/AP_HAL_PX4.h>
#include <AP_HAL_Empty/AP_HAL_Empty.h>
#include <AP_Math/AP_Math.h>
#include <AP_Param/AP_Param.h>
#include <StorageManager/StorageManager.h>
#include <AP_ADC/AP_ADC.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <Filter/Filter.h>
#include <DataFlash/DataFlash.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Mission/AP_Mission.h>
#include <StorageManager/StorageManager.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Declination/AP_Declination.h>
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_HAL_Linux/AP_HAL_Linux.h>
#include <AP_Rally/AP_Rally.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <SITL/SITL.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
extern mavlink_system_t mavlink_system;
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
AP_GROUPEND
};
static MAVLink_routing routing;
void setup(void)
{
hal.console->println("routing test startup...");
gcs[0].init(hal.uartA, MAVLINK_COMM_0);
}
void loop(void)
{
uint16_t err_count = 0;
// incoming heartbeat
mavlink_message_t msg;
mavlink_heartbeat_t heartbeat = {0};
mavlink_msg_heartbeat_encode(3, 1, &msg, &heartbeat);
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("heartbeat should be processed locally\n");
err_count++;
}
// incoming non-targetted message
mavlink_attitude_t attitude = {0};
mavlink_msg_attitude_encode(3, 1, &msg, &attitude);
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("attitude should be processed locally\n");
err_count++;
}
// incoming targetted message for someone else
mavlink_param_set_t param_set = {0};
param_set.target_system = mavlink_system.sysid+1;
param_set.target_component = mavlink_system.compid;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
if (routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("param set 1 should not be processed locally\n");
err_count++;
}
// incoming targetted message for us
param_set.target_system = mavlink_system.sysid;
param_set.target_component = mavlink_system.compid;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("param set 2 should be processed locally\n");
err_count++;
}
// incoming targetted message for our system, but other compid
// should be processed locally
param_set.target_system = mavlink_system.sysid;
param_set.target_component = mavlink_system.compid+1;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("param set 3 should be processed locally\n");
err_count++;
}
// incoming broadcast message should be processed locally
param_set.target_system = 0;
param_set.target_component = mavlink_system.compid+1;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
hal.console->printf("param set 4 should be processed locally\n");
err_count++;
}
if (err_count == 0) {
hal.console->printf("All OK\n");
}
hal.scheduler->delay(1000);
}
AP_HAL_MAIN();