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GCS_MAVLink: move GCS functions up from GCS_Plane

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Peter Barker 2017-02-13 21:57:50 +11:00 committed by Francisco Ferreira
parent 86d8252166
commit db27346fd7
2 changed files with 82 additions and 0 deletions
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16
libraries/GCS_MAVLink/GCS.h
View File

@ -431,6 +431,19 @@ public:
virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text); virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
void service_statustext(void); void service_statustext(void);
virtual GCS_MAVLINK &chan(const uint8_t ofs) = 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 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 set a dataflash pointer for logging
@ -457,6 +470,9 @@ private:
static GCS *_singleton; static GCS *_singleton;
virtual bool cli_enabled() const = 0;
virtual AP_HAL::BetterStream* cliSerial() = 0;
struct statustext_t { struct statustext_t {
uint8_t bitmask; uint8_t bitmask;
mavlink_statustext_t msg; mavlink_statustext_t msg;

66
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1251,6 +1251,72 @@ 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++) {
if (chan(i).initialised) {
chan(i).send_message(id);
}
}
}
void GCS::data_stream_send()
{
for (uint8_t i=0; i<num_gcs(); i++) {
if (chan(i).initialised) {
chan(i).data_stream_send();
}
}
}
void GCS::update(void)
{
for (uint8_t i=0; i<num_gcs(); i++) {
if (chan(i).initialised) {
chan(i).update(_run_cli);
}
}
}
void GCS::send_mission_item_reached_message(uint16_t mission_index)
{
for (uint8_t i=0; i<num_gcs(); i++) {
if (chan(i).initialised) {
chan(i).mission_item_reached_index = mission_index;
chan(i).send_message(MSG_MISSION_ITEM_REACHED);
}
}
}
void GCS::setup_uarts(AP_SerialManager &serial_manager)
{
for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
chan(i).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
}
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 // report battery2 state
void GCS_MAVLINK::send_battery2(const AP_BattMonitor &battery) void GCS_MAVLINK::send_battery2(const AP_BattMonitor &battery)
{ {