Diff: handle/mavcommands.h

Revision:

26:06f1c9d70e9f

Parent:

25:b7f861fc8ddd

Child:

33:ad63e7013801

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/handle/mavcommands.h	Tue Apr 22 14:21:01 2014 +0000
@@ -0,0 +1,81 @@
+#include "mbed.h"
+#include "mavcontrol.h"
+#include "adapt/usb.h"
+#include <algorithm>
+
+typedef struct MAV_REQUEST_LIST_S{
+    char targSys;
+    char targComp;
+}MAV_REQUEST_LIST;
+
+typedef struct MAV_COUNT_S{
+    uint16_t count;
+    char targSys;
+    char targComp;
+}MAV_COUNT;
+
+typedef struct MAV_REQ_S{
+    char targSys;
+    char targComp;
+    char other;
+    char count; 
+}MAV_REQ;
+
+typedef struct MAV_APM_S{
+    float parm1;
+    float parm2;
+    float parm3;
+    float parm4;
+    float parm5;
+    float parm6;
+    float parm7;
+    uint16_t cmd; 
+    uint8_t targSys;
+    uint8_t targComp;
+    uint8_t confirm;
+} MAV_APM;
+
+typedef struct MAV_MISSION_ITEM_S{
+    float parm1;
+    float parm2;
+    float parm3;
+    float parm4;
+    float lat;
+    float lon;
+    float alt;
+    uint16_t seq; 
+    uint16_t cmd; 
+    uint8_t targSys;
+    uint8_t targComp;
+    uint8_t frame;
+    uint8_t current; // set to true/1 to make current
+    uint8_t autoContinue;// set to true/1 to auto continue
+    uint8_t confirm;
+} MAV_MISSION_ITEM;
+
+class MavCmd{
+private:
+    MAV_REQUEST_LIST req;
+    MAV_APM issueArm;
+    MAV_APM issueDisArm;
+    MAV_COUNT issueCount;
+    MAV_MISSION_ITEM issueItem;
+    MAV_MISSION_ITEM issueTakeOff;
+    
+    // Local variables
+    bool startSetup;    // Set to true to initiate startup sequence
+    int readState;      // Read State
+    int realLen;        // How many more bytes need to be read
+    char nextCmd[512+1]; // Temperary storage of next command
+    int readIndex;       // Current index in next cmd (also the size)
+    static MavCmd* mavcmd;
+    bool initialized;
+public:
+    MavCmd():initialized(false){}
+    char* getNextCmd();
+    void handleNextCmd();
+    void setupCmds();
+    void setup(){if(!initialized){setupCmds();initialized=true;}}
+    void run(){setup();handleNextCmd();}
+    static MavCmd& get(){if(mavcmd==NULL){mavcmd=new MavCmd();}return *mavcmd;}
+};