mirror of https://github.com/ArduPilot/ardupilot
93 lines
2.6 KiB
C++
93 lines
2.6 KiB
C++
#include "GCS.h"
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#include <AP_Common/AP_FWVersion.h>
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const AP_FWVersion AP_FWVersion::fwver
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{
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major: 3,
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minor: 1,
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patch: 4,
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fw_type: FIRMWARE_VERSION_TYPE_DEV,
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fw_string: "Dummy GCS",
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fw_hash_str: "",
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middleware_name: "",
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middleware_hash_str: "",
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os_name: "",
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os_hash_str: "",
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os_sw_version: 0
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};
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const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] {};
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/*
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* GCS backend used for many examples and tools
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*/
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class GCS_MAVLINK_Dummy : public GCS_MAVLINK
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{
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public:
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using GCS_MAVLINK::GCS_MAVLINK;
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private:
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uint32_t telem_delay() const override { return 0; }
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void handleMessage(const mavlink_message_t &msg) override {}
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bool try_send_message(enum ap_message id) override { return true; }
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bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; }
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void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override {}
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protected:
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uint8_t sysid_my_gcs() const override { return 1; }
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// dummy information:
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MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
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MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
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bool set_home_to_current_location(bool _lock) override { return false; }
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bool set_home(const Location& loc, bool _lock) override { return false; }
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void send_nav_controller_output() const override {};
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void send_pid_tuning() override {};
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};
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/*
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* a GCS singleton used for many example sketches and tools
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*/
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extern const AP_HAL::HAL& hal;
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class GCS_Dummy : public GCS
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{
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public:
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using GCS::GCS;
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protected:
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GCS_MAVLINK_Dummy *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms,
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AP_HAL::UARTDriver &uart) override {
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return new GCS_MAVLINK_Dummy(params, uart);
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}
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private:
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GCS_MAVLINK_Dummy *chan(const uint8_t ofs) override {
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if (ofs > _num_gcs) {
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AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
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return nullptr;
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}
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return (GCS_MAVLINK_Dummy *)_chan[ofs];
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};
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const GCS_MAVLINK_Dummy *chan(const uint8_t ofs) const override {
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if (ofs > _num_gcs) {
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AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
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return nullptr;
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}
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return (GCS_MAVLINK_Dummy *)_chan[ofs];
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};
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void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) override { hal.console->printf("TOGCS: %s\n", text); }
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MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
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uint32_t custom_mode() const override { return 3; } // magic number
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};
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