Diff: mavcommands.cpp

Revision:

26:06f1c9d70e9f

Parent:

25:b7f861fc8ddd

Child:

27:db73f8ac6c75

--- a/mavcommands.cpp	Tue Apr 22 14:18:30 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,91 +0,0 @@
-#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;
-    }
-}
\ No newline at end of file