mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.1 KiB
C++
68 lines
2.1 KiB
C++
#include "GCS.h"
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extern const AP_HAL::HAL& hal;
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/*
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send a text message to all GCS
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*/
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void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
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{
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char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
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va_list arg_list;
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va_start(arg_list, fmt);
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hal.util->vsnprintf((char *)text, sizeof(text)-1, fmt, arg_list);
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va_end(arg_list);
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text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] = 0;
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send_statustext(severity, GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask(), text);
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}
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#define FOR_EACH_ACTIVE_CHANNEL(methodcall) \
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do { \
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for (uint8_t i=0; i<num_gcs(); i++) { \
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if (!chan(i).initialised) { \
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continue; \
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} \
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if (!(GCS_MAVLINK::active_channel_mask() & (1 << (chan(i).get_chan()-MAVLINK_COMM_0)))) { \
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continue; \
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} \
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chan(i).methodcall; \
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} \
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} while (0)
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void GCS::send_named_float(const char *name, float value) const
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{
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FOR_EACH_ACTIVE_CHANNEL(send_named_float(name, value));
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}
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void GCS::send_home() const
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{
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FOR_EACH_ACTIVE_CHANNEL(send_home());
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}
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void GCS::send_ekf_origin() const
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{
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FOR_EACH_ACTIVE_CHANNEL(send_ekf_origin());
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}
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/*
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install an alternative protocol handler. This allows another
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protocol to take over the link if MAVLink goes idle. It is used to
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allow for the AP_BLHeli pass-thru protocols to run on hal.uartA
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*/
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bool GCS::install_alternative_protocol(mavlink_channel_t c, GCS_MAVLINK::protocol_handler_fn_t handler)
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{
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if (c >= num_gcs()) {
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return false;
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}
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if (chan(c).alternative.handler) {
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// already have one installed - we may need to add support for
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// multiple alternative handlers
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return false;
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}
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chan(c).alternative.handler = handler;
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return true;
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}
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#undef FOR_EACH_ACTIVE_CHANNEL
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