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GCS_MAVLink: remove CLI

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This commit is contained in:
Peter Barker 2017-08-11 13:50:13 +10:00 committed by Randy Mackay
parent 1a25087dd5
commit bff31e8b42
3 changed files with 5 additions and 70 deletions
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22
libraries/GCS_MAVLink/GCS.h
View File

@ -89,8 +89,7 @@ class GCS_MAVLINK
{
public:
GCS_MAVLINK();
FUNCTOR_TYPEDEF(run_cli_fn, void, AP_HAL::UARTDriver*);
void update(run_cli_fn run_cli, uint32_t max_time_us=1000);
void update(uint32_t max_time_us=1000);
void init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan);
void setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance);
void send_message(enum ap_message id);
@ -133,9 +132,6 @@ public:
// see if we should send a stream now. Called at 50Hz
bool stream_trigger(enum streams stream_num);
// call to reset the timeout window for entering the cli
void reset_cli_timeout();
bool is_high_bandwidth() { return chan == MAVLINK_COMM_0; }
// return true if this channel has hardware flow control
bool have_flow_control();
@ -336,9 +332,6 @@ private:
///
uint16_t packet_drops;
// this allows us to detect the user wanting the CLI to start
uint8_t crlf_count;
// waypoints
uint16_t waypoint_dest_sysid; // where to send requests
uint16_t waypoint_dest_compid; // "
@ -353,10 +346,6 @@ private:
// number of extra ticks to add to slow things down for the radio
uint8_t stream_slowdown;
// millis value to calculate cli timeout relative to.
// exists so we can separate the cli entry time from the system start time
uint32_t _cli_timeout;
// perf counters
static AP_HAL::Util::perf_counter_t _perf_packet;
static AP_HAL::Util::perf_counter_t _perf_update;
@ -465,7 +454,6 @@ public:
virtual GCS_MAVLINK &chan(const uint8_t ofs) = 0;
virtual const GCS_MAVLINK &chan(const uint8_t ofs) const = 0;
virtual uint8_t num_gcs() const = 0;
void reset_cli_timeout();
void send_message(enum ap_message id);
void send_mission_item_reached_message(uint16_t mission_index);
void send_home(const Location &home) const;
@ -474,11 +462,6 @@ public:
void data_stream_send();
void update();
virtual void setup_uarts(AP_SerialManager &serial_manager);
void handle_interactive_setup();
FUNCTOR_TYPEDEF(run_cli_fn, void, AP_HAL::UARTDriver*);
run_cli_fn _run_cli;
void set_run_cli_func(run_cli_fn run_cli) { _run_cli = run_cli; }
/*
set a dataflash pointer for logging
@ -505,9 +488,6 @@ private:
static GCS *_singleton;
virtual bool cli_enabled() const = 0;
virtual AP_HAL::BetterStream* cliSerial() = 0;
struct statustext_t {
uint8_t bitmask;
mavlink_statustext_t msg;

51
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -59,7 +59,6 @@ GCS_MAVLINK::init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan)
mavlink_comm_port[chan] = _port;
initialised = true;
_queued_parameter = nullptr;
reset_cli_timeout();
if (!_perf_packet) {
_perf_packet = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "GCS_Packet");
@ -169,10 +168,6 @@ GCS_MAVLINK::queued_waypoint_send()
}
}
void GCS_MAVLINK::reset_cli_timeout() {
_cli_timeout = AP_HAL::millis();
}
void GCS_MAVLINK::send_meminfo(void)
{
unsigned __brkval = 0;
@ -821,8 +816,8 @@ void GCS_MAVLINK::send_message(enum ap_message id)
void GCS_MAVLINK::packetReceived(const mavlink_status_t &status,
mavlink_message_t &msg)
{
// we exclude radio packets to make it possible to use the
// CLI over the radio
// we exclude radio packets because we historically used this to
// make it possible to use the CLI over the radio
if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
mavlink_active |= (1U<<(chan-MAVLINK_COMM_0));
}
@ -849,7 +844,7 @@ void GCS_MAVLINK::packetReceived(const mavlink_status_t &status,
}
void
GCS_MAVLINK::update(run_cli_fn run_cli, uint32_t max_time_us)
GCS_MAVLINK::update(uint32_t max_time_us)
{
// receive new packets
mavlink_message_t msg;
@ -866,22 +861,6 @@ GCS_MAVLINK::update(run_cli_fn run_cli, uint32_t max_time_us)
{
uint8_t c = comm_receive_ch(chan);
if (run_cli) {
/* allow CLI to be started by hitting enter 3 times, if no
* heartbeat packets have been received */
if ((mavlink_active==0) && (AP_HAL::millis() - _cli_timeout) < 20000 &&
comm_is_idle(chan)) {
if (c == '\n' || c == '\r') {
crlf_count++;
} else {
crlf_count = 0;
}
if (crlf_count == 3) {
run_cli(_port);
}
}
}
bool parsed_packet = false;
// Try to get a new message
@ -1235,13 +1214,6 @@ void GCS::service_statustext(void)
}
}
void GCS::reset_cli_timeout()
{
for (uint8_t i=0; i<num_gcs(); i++) {
chan(i).reset_cli_timeout();
}
}
void GCS::send_message(enum ap_message id)
{
for (uint8_t i=0; i<num_gcs(); i++) {
@ -1274,7 +1246,7 @@ void GCS::update(void)
{
for (uint8_t i=0; i<num_gcs(); i++) {
if (chan(i).initialised) {
chan(i).update(_run_cli);
chan(i).update();
}
}
}
@ -1296,21 +1268,6 @@ void GCS::setup_uarts(AP_SerialManager &serial_manager)
}
}
void GCS::handle_interactive_setup()
{
if (cli_enabled()) {
AP_HAL::BetterStream* _cliSerial = cliSerial();
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
_cliSerial->printf("%s\n", msg);
if (chan(1).initialised && (chan(1).get_uart() != NULL)) {
chan(1).get_uart()->printf("%s\n", msg);
}
if (num_gcs() > 2 && chan(2).initialised && (chan(2).get_uart() != NULL)) {
chan(2).get_uart()->printf("%s\n", msg);
}
}
}
// report battery2 state
void GCS_MAVLINK::send_battery2(const AP_BattMonitor &battery)
{

2
libraries/GCS_MAVLink/GCS_Dummy.h
View File

@ -37,8 +37,6 @@ class GCS_Dummy : public GCS
uint8_t num_gcs() const override { return 1; }
GCS_MAVLINK_Dummy &chan(const uint8_t ofs) override { return dummy_backend; }
const GCS_MAVLINK_Dummy &chan(const uint8_t ofs) const override { return dummy_backend; };
bool cli_enabled() const override { return false; }
AP_HAL::BetterStream* cliSerial() { return nullptr; }
void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) { hal.console->printf("TOGCS: %s\n", text); }
};