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Rover: convert to using static send_statustext

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- no more MSG_STATUSTEXT
- TODO: replace calls to gcs_send_text and gcs_send_text_fmt to GCS_MAVLINK::send_statustext()
This commit is contained in:
Tom Pittenger 2016-02-23 12:54:27 -08:00 committed by Andrew Tridgell
parent 54d2a263fe
commit 0372b52378
2 changed files with 7 additions and 34 deletions
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40
APMrover2/GCS_Mavlink.cpp
View File

@ -383,15 +383,6 @@ void Rover::send_current_waypoint(mavlink_channel_t chan)
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index()); mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
} }
void Rover::send_statustext(mavlink_channel_t chan)
{
mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
mavlink_msg_statustext_send(
chan,
s->severity,
s->text);
}
// are we still delaying telemetry to try to avoid Xbee bricking? // are we still delaying telemetry to try to avoid Xbee bricking?
bool Rover::telemetry_delayed(mavlink_channel_t chan) bool Rover::telemetry_delayed(mavlink_channel_t chan)
{ {
@ -521,9 +512,8 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
break; break;
case MSG_STATUSTEXT: case MSG_STATUSTEXT:
CHECK_PAYLOAD_SIZE(STATUSTEXT); // depreciated, use GCS_MAVLINK::send_statustext*
rover.send_statustext(chan); return false;
break;
case MSG_AHRS: case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS); CHECK_PAYLOAD_SIZE(AHRS);
@ -1452,14 +1442,7 @@ void Rover::gcs_update(void)
void Rover::gcs_send_text(MAV_SEVERITY severity, const char *str) void Rover::gcs_send_text(MAV_SEVERITY severity, const char *str)
{ {
for (uint8_t i=0; i<num_gcs; i++) { GCS_MAVLINK::send_statustext(severity, 0xFF, str);
if (gcs[i].initialised) {
gcs[i].send_text(severity, str);
}
}
#if LOGGING_ENABLED == ENABLED
DataFlash.Log_Write_Message(str);
#endif
} }
/* /*
@ -1469,22 +1452,12 @@ void Rover::gcs_send_text(MAV_SEVERITY severity, const char *str)
*/ */
void Rover::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...) void Rover::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
{ {
char str[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
va_list arg_list; va_list arg_list;
gcs[0].pending_status.severity = (uint8_t)severity;
va_start(arg_list, fmt); va_start(arg_list, fmt);
hal.util->vsnprintf((char *)gcs[0].pending_status.text, hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
sizeof(gcs[0].pending_status.text), fmt, arg_list);
va_end(arg_list); va_end(arg_list);
#if LOGGING_ENABLED == ENABLED GCS_MAVLINK::send_statustext(severity, 0xFF, str);
DataFlash.Log_Write_Message(gcs[0].pending_status.text);
#endif
gcs[0].send_message(MSG_STATUSTEXT);
for (uint8_t i=1; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].pending_status = gcs[0].pending_status;
gcs[i].send_message(MSG_STATUSTEXT);
}
}
} }
@ -1494,4 +1467,5 @@ void Rover::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
void Rover::gcs_retry_deferred(void) void Rover::gcs_retry_deferred(void)
{ {
gcs_send_message(MSG_RETRY_DEFERRED); gcs_send_message(MSG_RETRY_DEFERRED);
GCS_MAVLINK::service_statustext();
} }

1
APMrover2/Rover.h
View File

@ -407,7 +407,6 @@ private:
void send_pid_tuning(mavlink_channel_t chan); void send_pid_tuning(mavlink_channel_t chan);
void send_rangefinder(mavlink_channel_t chan); void send_rangefinder(mavlink_channel_t chan);
void send_current_waypoint(mavlink_channel_t chan); void send_current_waypoint(mavlink_channel_t chan);
void send_statustext(mavlink_channel_t chan);
bool telemetry_delayed(mavlink_channel_t chan); bool telemetry_delayed(mavlink_channel_t chan);
void gcs_send_message(enum ap_message id); void gcs_send_message(enum ap_message id);
void gcs_send_mission_item_reached_message(uint16_t mission_index); void gcs_send_mission_item_reached_message(uint16_t mission_index);