From a07b238c7d8a1478dc2cb1c641bfcf7ab941c2b7 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sat, 5 Dec 2020 19:16:05 +0000
Subject: [PATCH] AP_HAL: add PRIORITY_RCOUT

don't allow UART copies
add @SYS/uarts.txt
---
 libraries/AP_HAL/Scheduler.h  | 1 +
 libraries/AP_HAL/UARTDriver.h | 4 ++++
 libraries/AP_HAL/Util.h       | 3 +++
 3 files changed, 8 insertions(+)

diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
index f70af85e09..2a82050dae 100644
--- a/libraries/AP_HAL/Scheduler.h
+++ b/libraries/AP_HAL/Scheduler.h
@@ -108,6 +108,7 @@ public:
         PRIORITY_I2C,
         PRIORITY_CAN,
         PRIORITY_TIMER,
+        PRIORITY_RCOUT,
         PRIORITY_RCIN,
         PRIORITY_IO,
         PRIORITY_UART,
diff --git a/libraries/AP_HAL/UARTDriver.h b/libraries/AP_HAL/UARTDriver.h
index 254e0d7229..10cd37a648 100644
--- a/libraries/AP_HAL/UARTDriver.h
+++ b/libraries/AP_HAL/UARTDriver.h
@@ -9,6 +9,10 @@
 class AP_HAL::UARTDriver : public AP_HAL::BetterStream {
 public:
     UARTDriver() {}
+    /* Do not allow copies */
+    UARTDriver(const UARTDriver &other) = delete;
+    UARTDriver &operator=(const UARTDriver&) = delete;
+
     // begin() implicitly clears rx/tx buffers, even if the port was already open (unless the UART is the console UART)
     virtual void begin(uint32_t baud) = 0;
 	/// Extended port open method
diff --git a/libraries/AP_HAL/Util.h b/libraries/AP_HAL/Util.h
index 4eef24dd70..5a107f7409 100644
--- a/libraries/AP_HAL/Util.h
+++ b/libraries/AP_HAL/Util.h
@@ -196,6 +196,9 @@ public:
     // load persistent parameters from bootloader sector
     virtual bool load_persistent_params(ExpandingString &str) const { return false; }
 
+    // request information on uart I/O
+    virtual void uart_info(ExpandingString &str) {}
+
 protected:
     // we start soft_armed false, so that actuators don't send any
     // values until the vehicle code has fully started