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GCS_MAVLink: allow replay to use GCS_Dummy

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This commit is contained in:
Andrew Tridgell 2020-11-09 14:51:13 +11:00
parent ac566763fe
commit 147df12eb8
2 changed files with 25 additions and 11 deletions
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24
libraries/GCS_MAVLink/GCS_Dummy.cpp Normal file
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@ -0,0 +1,24 @@
#include "GCS_Dummy.h"
#include <stdio.h>
#define FORCE_VERSION_H_INCLUDE
#include <AP_Common/AP_FWVersionDefine.h>
#undef FORCE_VERSION_H_INCLUDE
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] {};
/*
send_text implementation for dummy GCS
*/
void GCS_Dummy::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t dest_bitmask)
{
#if !APM_BUILD_TYPE(APM_BUILD_Replay)
hal.console->printf("TOGCS: ");
hal.console->vprintf(fmt, arg_list);
hal.console->printf("\n");
#else
::printf("TOGCS: ");
::vprintf(fmt, arg_list);
::printf("\n");
#endif
}

12
libraries/GCS_MAVLink/GCS_Dummy.h
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@ -8,12 +8,6 @@
#define FW_PATCH 4
#define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
#define FORCE_VERSION_H_INCLUDE
#include <AP_Common/AP_FWVersionDefine.h>
#undef FORCE_VERSION_H_INCLUDE
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] {};
/*
* GCS backend used for many examples and tools
*/
@ -83,11 +77,7 @@ private:
return (GCS_MAVLINK_Dummy *)_chan[ofs];
};
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t dest_bitmask) override {
hal.console->printf("TOGCS: ");
hal.console->vprintf(fmt, arg_list);
hal.console->printf("\n");
}
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t dest_bitmask) override;
MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
uint32_t custom_mode() const override { return 3; } // magic number