mirror of https://github.com/ArduPilot/ardupilot
132 lines
3.2 KiB
C++
132 lines
3.2 KiB
C++
/*
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* AP_CommLink.h
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* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef AP_CommLink_H
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#define AP_CommLink_H
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#include <inttypes.h>
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#include "../AP_Common/AP_Common.h"
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#include "../AP_Common/AP_Vector.h"
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#include "AP_MavlinkCommand.h"
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class FastSerial;
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namespace apo {
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class AP_Controller;
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class AP_Navigator;
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class AP_Guide;
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class AP_HardwareAbstractionLayer;
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enum {
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SEVERITY_LOW, SEVERITY_MED, SEVERITY_HIGH
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};
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// forward declarations
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//class ArduPilotOne;
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//class AP_Controller;
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/// CommLink class
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class AP_CommLink {
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public:
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AP_CommLink(FastSerial * link, AP_Navigator * navigator, AP_Guide * guide,
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AP_Controller * controller, AP_HardwareAbstractionLayer * hal);
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virtual void send() = 0;
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virtual void receive() = 0;
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virtual void sendMessage(uint8_t id, uint32_t param = 0) = 0;
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virtual void sendText(uint8_t severity, const char *str) = 0;
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virtual void sendText(uint8_t severity, const prog_char_t *str) = 0;
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virtual void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) = 0;
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virtual void sendParameters() = 0;
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virtual void requestCmds() = 0;
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protected:
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FastSerial * _link;
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AP_Navigator * _navigator;
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AP_Guide * _guide;
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AP_Controller * _controller;
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AP_HardwareAbstractionLayer * _hal;
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};
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class MavlinkComm: public AP_CommLink {
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public:
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MavlinkComm(FastSerial * link, AP_Navigator * nav, AP_Guide * guide,
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AP_Controller * controller, AP_HardwareAbstractionLayer * hal);
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virtual void send();
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void sendMessage(uint8_t id, uint32_t param = 0);
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virtual void receive();
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void sendText(uint8_t severity, const char *str);
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void sendText(uint8_t severity, const prog_char_t *str);
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void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2);
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/**
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* sends parameters one at a time
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*/
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void sendParameters();
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/**
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* request commands one at a time
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*/
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void requestCmds();
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private:
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// options
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bool _useRelativeAlt;
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// commands
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bool _sendingCmds;
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bool _receivingCmds;
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uint16_t _cmdTimeLastSent;
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uint16_t _cmdTimeLastReceived;
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uint16_t _cmdDestSysId;
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uint16_t _cmdDestCompId;
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uint16_t _cmdRequestIndex;
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uint16_t _cmdNumberRequested;
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uint16_t _cmdMax;
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Vector<mavlink_command_t *> _cmdList;
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// parameters
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static uint8_t _paramNameLengthMax;
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uint16_t _parameterCount;
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AP_Var * _queuedParameter;
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uint16_t _queuedParameterIndex;
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// channel
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mavlink_channel_t _channel;
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uint16_t _packetDrops;
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static uint8_t _nChannels;
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void _handleMessage(mavlink_message_t * msg);
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uint16_t _countParameters();
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AP_Var * _findParameter(uint16_t index);
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// check the target
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uint8_t _checkTarget(uint8_t sysid, uint8_t compid);
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};
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} // namespace apo
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#endif // AP_CommLink_H
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// vim:ts=4:sw=4:tw=78:expandtab
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