AP_RCProtocol: move RC Protocol announcements to AP_RCProtocol

ArduPilot · May 5, 2024 · 1b77877 · 1b77877
1 parent f672d03
commit 1b77877
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Showing 4 changed files with 61 additions and 0 deletions.
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -45,6 +45,8 @@
 
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
+#include <GCS_MAVLink/GCS.h>
+
 extern const AP_HAL::HAL& hal;
 
 void AP_RCProtocol::init()
@@ -450,6 +452,39 @@ bool AP_RCProtocol::detect_async_protocol(rcprotocol_t protocol)
     return true;
 }
 
+const char *AP_RCProtocol::detected_protocol_name() const
+{
+    switch (_detected_protocol) {
+#if AP_RCPROTOCOL_IOMCU_ENABLED
+    case AP_RCProtocol::IOMCU:
+        return ((AP_RCProtocol_IOMCU*)(backend[AP_RCProtocol::IOMCU]))->get_rc_protocol();
+#endif
+    default:
+        return protocol_name();
+    }
+}
+
+void AP_RCProtocol::announce_detected()
+{
+    const char *src;
+    const char *name = detected_protocol_name();
+    if (name == nullptr) {
+        return;
+    }
+    switch (_detected_protocol) {
+#if AP_RCPROTOCOL_IOMCU_ENABLED
+    case AP_RCProtocol::IOMCU:
+        src = "IOMCU";
+        break;
+#endif
+    default:
+        src = using_uart() ? "Bytes" : "Pulses";
+    }
+    (void)src;  // iofirmware doesn't use this
+    (void)name;  // iofirmware doesn't use this
+    GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "RCInput: decoding %s (%s)", name, src);
+}
+
 bool AP_RCProtocol::new_input()
 {
     // if we have an extra UART from a SERIALn_PROTOCOL then check it for data
@@ -503,6 +538,14 @@ bool AP_RCProtocol::new_input()
     }
 #endif
 
+    // announce protocol changes:
+    if (_detected_protocol != _last_detected_protocol ||
+        using_uart() != _last_detected_using_uart) {
+        _last_detected_protocol = _detected_protocol;
+        _last_detected_using_uart = using_uart();
+        announce_detected();
+    }
+
     bool ret = _new_input;
     _new_input = false;
     return ret;

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h
@@ -222,6 +222,12 @@ class AP_RCProtocol {
     // return protocol name as a string
     const char *protocol_name(void) const;
 
+    // return detected protocol.  In the case that backend can provide
+    // information on what *it* is decoding that will be returned by
+    // this method.  As opposed to "protocol_name" which will be the
+    // backend name e.g. "IOMCU".
+    const char *detected_protocol_name() const;
+
     // return detected protocol
     enum rcprotocol_t protocol_detected(void) const {
         return _detected_protocol;
@@ -287,6 +293,10 @@ class AP_RCProtocol {
     // allowed RC protocols mask (first bit means "all")
     uint32_t rc_protocols_mask;
 
+    rcprotocol_t _last_detected_protocol;
+    bool _last_detected_using_uart;
+    void announce_detected();
+
 #endif  // AP_RCPROTCOL_ENABLED
 
 };

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_IOMCU.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_IOMCU.cpp
@@ -6,8 +6,14 @@
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_IOMCU/AP_IOMCU.h>
+
 extern AP_IOMCU iomcu;
 
+const char *AP_RCProtocol_IOMCU::get_rc_protocol() const
+{
+    return iomcu.get_rc_protocol();
+}
+
 void AP_RCProtocol_IOMCU::update()
 {
     if (!AP_BoardConfig::io_enabled()) {

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_IOMCU.h b/libraries/AP_RCProtocol/AP_RCProtocol_IOMCU.h
@@ -19,6 +19,8 @@ class AP_RCProtocol_IOMCU : public AP_RCProtocol_Backend {
         return ever_seen_input && AP_HAL::micros() - last_iomcu_us < 400000;
     }
 
+    const char *get_rc_protocol() const;
+
 private:
 
     uint32_t last_iomcu_us;