Plane: move GCS functions up to superclass GCS

ArduPlane/GCS_Plane.cpp

@@ -1,53 +1,22 @@
 #include "GCS_Plane.h"
 #include "Plane.h"
 
-void GCS_Plane::reset_cli_timeout()
+bool GCS_Plane::cli_enabled() const
 {
-    for (uint8_t i=0; i<_num_gcs; i++) {
-        _chan[i].reset_cli_timeout();
-    }
-}
-
-void GCS_Plane::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_Plane::data_stream_send()
-{
-    for (uint8_t i=0; i<_num_gcs; i++) {
-        if (_chan[i].initialised) {
-            _chan[i].data_stream_send();
-        }
-    }
-}
-
-void GCS_Plane::update(void)
-{
-    for (uint8_t i=0; i<_num_gcs; i++) {
-        if (_chan[i].initialised) {
-            _chan[i].update(_run_cli);
-        }
-    }
+#if CLI_ENABLED == ENABLED
+    return plane.g.cli_enabled;
+#else
+    return false;
+#endif
 }
 
-void GCS_Plane::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);
-        }
-    }
+AP_HAL::BetterStream* GCS_Plane::cliSerial() {
+    return plane.cliSerial;
 }
 
 void GCS_Plane::send_airspeed_calibration(const Vector3f &vg)
 {
-    for (uint8_t i=0; i<_num_gcs; i++) {
+    for (uint8_t i=0; i<num_gcs(); i++) {
         if (_chan[i].initialised) {
             if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, AIRSPEED_AUTOCAL)) {
                 plane.airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
@@ -55,26 +24,3 @@ void GCS_Plane::send_airspeed_calibration(const Vector3f &vg)
         }
     }
 }
-
-void GCS_Plane::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);
-    }
-}
-
-#if CLI_ENABLED == ENABLED
-void GCS_Plane::handle_interactive_setup()
-{
-    if (plane.g.cli_enabled == 1) {
-        const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
-        plane.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);
-        }
-    }
-}
-#endif

ArduPlane/GCS_Plane.h

@@ -6,35 +6,25 @@
 
 class GCS_Plane : public GCS
 {
-    friend class Plane; // for temporary access to num_gcs and links
+    friend class Plane;  // for access to _chan in parameter declarations
 
 public:
 
-    FUNCTOR_TYPEDEF(run_cli_fn, void, AP_HAL::UARTDriver*);
-
     // return the number of valid GCS objects
-    uint8_t num_gcs() const { return _num_gcs; };
+    uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
 
     // return GCS link at offset ofs
-    GCS_MAVLINK_Plane &chan(const uint8_t ofs) { return _chan[ofs]; };
+    GCS_MAVLINK_Plane &chan(const uint8_t ofs) override {
+        return _chan[ofs];
+    };
 
-    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();
     void send_airspeed_calibration(const Vector3f &vg);
 
-    void set_run_cli_func(run_cli_fn run_cli) { _run_cli = run_cli; }
-    void setup_uarts(AP_SerialManager &serial_manager);
-#if CLI_ENABLED == ENABLED
-    void handle_interactive_setup();
-#endif
-
 private:
 
-    uint8_t _num_gcs = MAVLINK_COMM_NUM_BUFFERS;
     GCS_MAVLINK_Plane _chan[MAVLINK_COMM_NUM_BUFFERS];
-    run_cli_fn _run_cli;
+
+    bool cli_enabled() const override;
+    AP_HAL::BetterStream* cliSerial() override;
 
 };