File content as of revision 24:e65416d6de22:

#include "mavcommands.h"

// Maximium number of charictors to read without giving up the processor
#define MAX_READ_LOOP 256

MavCmd* MavCmd::mavcmd=NULL;

void MavCmd::setupCmds(){
    // Request item list
    req.targSys=1;req.targComp=1;
    // Issue arm motors
    issueArm.targSys=1;issueArm.targComp=250;issueArm.cmd=400;issueArm.parm1=1.0f;
    // Issue disarm motors
    issueDisArm.targSys=1;issueDisArm.targComp=250;issueDisArm.cmd=400;issueDisArm.parm1=0.0f;
    // Issue a mission count
    issueCount.targSys=1;issueCount.targComp=1;issueCount.count=1;
    // Issue a mission item
    issueItem.targSys=1;issueItem.targComp=1;issueItem.lat=5.0f;issueItem.lon=6.0f;issueItem.alt=7.0f;issueItem.cmd=16;issueItem.seq=0;issueItem.current=1;
    // Issue a take off item
    issueTakeOff.targSys=1;issueTakeOff.targComp=1;issueTakeOff.lat=5.0f;issueTakeOff.lon=6.0f;issueTakeOff.alt=7.0f;issueTakeOff.cmd=22;issueTakeOff.seq=0;issueTakeOff.current=1;

    // Local variables
    startSetup=true;// Set to true to initiate startup sequence
    readState=0;     // Read State
    realLen=0;       // How many more bytes need to be read
    readIndex=0;     // Current index in next cmd (also the size)
}

char* MavCmd::getNextCmd(){
    for(int readcnt=0;readcnt<MAX_READ_LOOP;readcnt++){
        if(Mav::getSerial().readable()<=0){
            // Nothing to run, wait until next time
            return NULL;
        }else{
            char input=Mav::getSerial().getc();
            USB::getSerial().printf("> %x %d %d\n",input,readState,realLen);
            if(readState==0&&input==0xFE){
                readState=1;
                readIndex=1;
            }else if(readState!=0){
                nextCmd[std::min(readIndex++,512)]=input;
                if(readState==1){
                    realLen=input+5-1;
                    readState=2;
                }
                if(readState==2){
                    realLen--;
                    if(realLen==0){
                        readState=0;
                        char* output=new char[readIndex];
                        for(int i=0;i<readIndex;i++){output[i]=nextCmd[i];}
                        return output;
                    }
                }
            }
        }
    }
}

// Handle the next command (if one is available)
void MavCmd::handleNextCmd(){
    char* myCmd=getNextCmd();
    // Output debug info
    if(myCmd!=NULL){
        USB::getSerial().printf("Got CMD len %d messageid %d \n",myCmd[1],myCmd[5]);
        if(myCmd[5]==0){
            if(startSetup){
                startSetup=false;
                USB::getSerial().printf("Issue Command\n",myCmd[1],myCmd[5]);
                // Issue count to init waypoint entry
                Mav::sendOutput(MAVLINK_MSG_ID_COUNT,(char*)&issueCount,sizeof(MAV_COUNT));
            }
        }
        // Check for mavlink message request
        if(myCmd[5]==MAVLINK_MSG_ID_MISSION_REQUEST){
            USB::getSerial().printf("Issue Item\n");
            // Set sequence to requested sequence
            issueItem.seq=myCmd[6];
            // Issue mission item
            Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueItem,sizeof(MAV_MISSION_ITEM));
        }
        // Check for mission accepted
        if(myCmd[5]==MAVLINK_MSG_ID_MISSION_ACK){
            // Arm motors
            Mav::sendOutput(MAVLINK_MSG_ID_LONG,(char*)&issueArm,sizeof(MAV_APM));
            // Take off
            Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueTakeOff,sizeof(MAV_MISSION_ITEM));
        }
        delete myCmd;
    }
}