Line data    Source code

       1             : #include "GCS_config.h"
       2             : 
       3             : #if HAL_GCS_ENABLED
       4             : 
       5             : #include "GCS.h"
       6             : #include <AP_Common/AP_FWVersion.h>
       7             : 
       8             : #define THISFIRMWARE "GCSDummy V3.1.4-dev"
       9             : 
      10             : #define FW_MAJOR 3
      11             : #define FW_MINOR 1
      12             : #define FW_PATCH 4
      13             : #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
      14             : 
      15             : /*
      16             :  *  GCS backend used for many examples and tools
      17             :  */
      18             : class GCS_MAVLINK_Dummy : public GCS_MAVLINK
      19             : {
      20             : public:
      21             : 
      22             :     using GCS_MAVLINK::GCS_MAVLINK;
      23             : 
      24             : private:
      25             : 
      26           0 :     bool try_send_message(enum ap_message id) override { return true; }
      27             : 
      28             : protected:
      29             : 
      30             :     // dummy information:
      31           0 :     uint8_t base_mode() const override { return (uint8_t)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
      32           0 :     MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
      33             : 
      34           0 :     void send_nav_controller_output() const override {};
      35           0 :     void send_pid_tuning() override {};
      36           0 :     uint8_t send_available_mode(uint8_t index) const override { return 0; }
      37             : };
      38             : 
      39             : /*
      40             :  * a GCS singleton used for many example sketches and tools
      41             :  */
      42             : 
      43             : extern const AP_HAL::HAL& hal;
      44             : 
      45             : class GCS_Dummy : public GCS
      46             : {
      47             : public:
      48             : 
      49             :     using GCS::GCS;
      50             : 
      51             : protected:
      52             : 
      53           0 :     GCS_MAVLINK_Dummy *new_gcs_mavlink_backend(AP_HAL::UARTDriver &uart) override {
      54           0 :         return NEW_NOTHROW GCS_MAVLINK_Dummy(uart);
      55             :     }
      56             : 
      57             : private:
      58             :     // the following define expands to a pair of methods to retrieve a
      59             :     // pointer to an object of the correct subclass for the link at
      60             :     // offset ofs.  These are of the form:
      61             :     // GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override;
      62             :     // const GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override const;
      63         480 :     GCS_MAVLINK_CHAN_METHOD_DEFINITIONS(GCS_MAVLINK_Dummy);
      64             : 
      65             :     void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, mavlink_channel_mask_t dest_bitmask) override;
      66             : 
      67           0 :     MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
      68           0 :     uint32_t custom_mode() const override { return 3; } // magic number
      69             : };
      70             : 
      71             : #endif  // HAL_GCS_ENABLED