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40 lines
1.3 KiB
40 lines
1.3 KiB
#include "GCS.h" |
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/* |
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* GCS backend used for many examples and tools |
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*/ |
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class GCS_MAVLINK_Dummy : public GCS_MAVLINK |
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{ |
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void data_stream_send(void) override {} |
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uint32_t telem_delay() const override { return 0; } |
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void handleMessage(mavlink_message_t * msg) override {} |
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bool try_send_message(enum ap_message id) { return true; } |
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bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; } |
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void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override {} |
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protected: |
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AP_Mission *get_mission() override { return nullptr; } |
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AP_Rally *get_rally() const override { return nullptr; }; |
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uint8_t sysid_my_gcs() const override { return 1; } |
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}; |
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/* |
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* a GCS singleton used for many example sketches and tools |
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*/ |
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extern const AP_HAL::HAL& hal; |
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class GCS_Dummy : public GCS |
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{ |
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GCS_MAVLINK_Dummy dummy_backend; |
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uint8_t num_gcs() const override { return 1; } |
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GCS_MAVLINK_Dummy &chan(const uint8_t ofs) override { return dummy_backend; } |
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const GCS_MAVLINK_Dummy &chan(const uint8_t ofs) const override { return dummy_backend; }; |
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bool cli_enabled() const override { return false; } |
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AP_HAL::BetterStream* cliSerial() { return nullptr; } |
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void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) { hal.console->printf("TOGCS: %s\n", text); } |
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};
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