GCS_MAVLink: move GCS functions up from GCS_Plane

libraries/GCS_MAVLink/GCS.h

@@ -431,6 +431,19 @@ public:
 
     virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
     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
@@ -457,6 +470,9 @@ 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

@@ -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
 void GCS_MAVLINK::send_battery2(const AP_BattMonitor &battery)
 {