GCS_MAVLink: remove CLI

libraries/GCS_MAVLink/GCS.h

@@ -89,8 +89,7 @@ class GCS_MAVLINK
 {
 public:
     GCS_MAVLINK();
-    FUNCTOR_TYPEDEF(run_cli_fn, void, AP_HAL::UARTDriver*);
+    void        update(uint32_t max_time_us=1000);
-    void        update(run_cli_fn run_cli, 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;

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -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
+    // we exclude radio packets because we historically used this to
-    // CLI over the radio
+    // 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)
 {

libraries/GCS_MAVLink/GCS_Dummy.h

@@ -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); }
 };