ardupilot/libraries/GCS_MAVLink/GCS_Dummy.h

93 lines
2.6 KiB
C++

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