ardupilot/libraries/GCS_Console/examples/Console/Console.cpp

67 lines
1.7 KiB
C++

// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
// This code is placed into the public domain.
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Mission/AP_Mission.h>
#include <StorageManager/StorageManager.h>
#include <AP_Terrain/AP_Terrain.h>
#include <GCS_Console/GCS_Console.h>
#include "simplegcs.h"
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
void flush_console_to_statustext() {
uint8_t data[50];
int n = hal.console->backend_read(data, 50);
if (n > 0) {
try_send_statustext(MAVLINK_COMM_0, (char*) data, n);
}
}
void console_loopback() {
int a = hal.console->available();
if (a > 0) {
hal.console->print("Console loopback:");
int r = hal.console->read();
while (r > 0) {
hal.console->write( (uint8_t) r );
r = hal.console->read();
}
hal.console->println();
}
}
void setup(void) {
/* Allocate large enough buffers on uartA to support mavlink */
hal.uartA->begin(115200, 128, 256);
/* Setup GCS_Mavlink library's comm 0 port. */
mavlink_comm_port[0] = hal.uartA;
char hello[] = "Hello statustext\r\n";
try_send_statustext(MAVLINK_COMM_0, hello, strlen(hello));
hal.console->backend_open();
hal.console->printf("Hello hal.console\r\n");
}
int i = 0;
void loop(void) {
try_send_message(MAVLINK_COMM_0, MAVLINK_MSG_ID_HEARTBEAT);
simplegcs_update(MAVLINK_COMM_0);
// flush_console_to_statustext();
gcs_console_send(MAVLINK_COMM_0);
console_loopback();
hal.scheduler->delay(100);
}
AP_HAL_MAIN();