Andrew Tridgell
11 years ago
2 changed files with 10 additions and 229 deletions
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@@ -1,209 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file GCS.h
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/// @brief Interface definition for the various Ground Control System
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// protocols.
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#ifndef __GCS_H |
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#define __GCS_H |
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#include <AP_HAL.h> |
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#include <AP_Common.h> |
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#include <GPS.h> |
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#include <stdint.h> |
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///
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/// @class GCS
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/// @brief Class describing the interface between the APM code
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/// proper and the GCS implementation.
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///
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/// GCS' are currently implemented inside the sketch and as such have
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/// access to all global state. The sketch should not, however, call GCS
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/// internal functions - all calls to the GCS should be routed through
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/// this interface (or functions explicitly exposed by a subclass).
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///
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class GCS_Class |
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{ |
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public: |
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/// Startup initialisation.
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///
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/// This routine performs any one-off initialisation required before
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/// GCS messages are exchanged.
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///
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/// @note The stream is expected to be set up and configured for the
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/// correct bitrate before ::init is called.
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///
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/// @note The stream is currently BetterStream so that we can use the _P
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/// methods; this may change if Arduino adds them to Print.
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///
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/// @param port The stream over which messages are exchanged.
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///
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void init(AP_HAL::UARTDriver *port) { |
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_port = port; |
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} |
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/// Update GCS state.
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///
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/// This may involve checking for received bytes on the stream,
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/// or sending additional periodic messages.
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void update(void) { |
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} |
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/// Send a message with a single numeric parameter.
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///
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/// This may be a standalone message, or the GCS driver may
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/// have its own way of locating additional parameters to send.
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///
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/// @param id ID of the message to send.
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/// @param param Explicit message parameter.
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///
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void send_message(enum ap_message id) { |
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} |
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/// Send a text message.
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///
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/// @param severity A value describing the importance of the message.
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/// @param str The text to be sent.
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///
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void send_text(gcs_severity severity, const char *str) { |
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} |
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/// Send a text message with a PSTR()
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///
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/// @param severity A value describing the importance of the message.
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/// @param str The text to be sent.
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///
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void send_text_P(gcs_severity severity, const prog_char_t *str) { |
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} |
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// send streams which match frequency range
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void data_stream_send(void); |
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// set to true if this GCS link is active
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bool initialised; |
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protected: |
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/// The stream we are communicating over
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AP_HAL::UARTDriver *_port; |
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}; |
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//
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// GCS class definitions.
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//
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// These are here so that we can declare the GCS object early in the sketch
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// and then reference it statically rather than via a pointer.
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//
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///
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/// @class GCS_MAVLINK
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/// @brief The mavlink protocol for qgroundcontrol
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///
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class GCS_MAVLINK : public GCS_Class |
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{ |
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public: |
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GCS_MAVLINK(); |
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void update(void); |
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void init(AP_HAL::UARTDriver *port); |
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void send_message(enum ap_message id); |
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void send_text(gcs_severity severity, const char *str); |
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void send_text_P(gcs_severity severity, const prog_char_t *str); |
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void data_stream_send(void); |
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void queued_param_send(); |
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void queued_waypoint_send(); |
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static const struct AP_Param::GroupInfo var_info[]; |
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// NOTE! The streams enum below and the
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// set of AP_Int16 stream rates _must_ be
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// kept in the same order
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enum streams {STREAM_RAW_SENSORS, |
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STREAM_EXTENDED_STATUS, |
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STREAM_RC_CHANNELS, |
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STREAM_RAW_CONTROLLER, |
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STREAM_POSITION, |
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STREAM_EXTRA1, |
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STREAM_EXTRA2, |
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STREAM_EXTRA3, |
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STREAM_PARAMS, |
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NUM_STREAMS}; |
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// see if we should send a stream now. Called at 50Hz
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bool stream_trigger(enum streams stream_num); |
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// this costs us 51 bytes per instance, but means that low priority
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// messages don't block the CPU
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mavlink_statustext_t pending_status; |
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// call to reset the timeout window for entering the cli
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void reset_cli_timeout(); |
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private: |
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void handleMessage(mavlink_message_t * msg); |
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/// Perform queued sending operations
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///
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AP_Param * _queued_parameter; ///< next parameter to
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// be sent in queue
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enum ap_var_type _queued_parameter_type; ///< type of the next
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// parameter
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AP_Param::ParamToken _queued_parameter_token; ///AP_Param token for
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// next() call
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uint16_t _queued_parameter_index; ///< next queued
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// parameter's index
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uint16_t _queued_parameter_count; ///< saved count of
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// parameters for
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// queued send
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uint32_t _queued_parameter_send_time_ms; |
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/// Count the number of reportable parameters.
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///
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/// Not all parameters can be reported via MAVlink. We count the number
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// that are
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/// so that we can report to a GCS the number of parameters it should
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// expect when it
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/// requests the full set.
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///
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/// @return The number of reportable parameters.
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///
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uint16_t _count_parameters(); ///< count reportable
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// parameters
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uint16_t _parameter_count; ///< cache of reportable
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// parameters
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mavlink_channel_t chan; |
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uint16_t packet_drops; |
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#if CLI_ENABLED == ENABLED |
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// this allows us to detect the user wanting the CLI to start
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uint8_t crlf_count; |
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#endif |
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// waypoints
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uint16_t waypoint_request_i; // request index
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uint16_t waypoint_request_last; // last request index
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uint16_t waypoint_dest_sysid; // where to send requests
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uint16_t waypoint_dest_compid; // "
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bool waypoint_receiving; // currently receiving
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uint16_t waypoint_count; |
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uint32_t waypoint_timelast_send; // milliseconds
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uint32_t waypoint_timelast_receive; // milliseconds
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uint32_t waypoint_timelast_request; // milliseconds
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uint16_t waypoint_send_timeout; // milliseconds
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uint16_t waypoint_receive_timeout; // milliseconds
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// saveable rate of each stream
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AP_Int16 streamRates[NUM_STREAMS]; |
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// number of 50Hz ticks until we next send this stream
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uint8_t stream_ticks[NUM_STREAMS]; |
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// number of extra ticks to add to slow things down for the radio
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uint8_t stream_slowdown; |
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// millis value to calculate cli timeout relative to.
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// exists so we can separate the cli entry time from the system start time
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uint32_t _cli_timeout; |
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}; |
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#endif // __GCS_H
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