File content as of revision 52:b4dddb28dffa:

#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=5;
    // 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=0;issueItem.frame=0;issueItem.confirm=0;
    // 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;
    // Issue start
    issueStart.targSys=1;issueStart.targComp=1;issueStart.lat=5.0f;issueStart.lon=6.0f;issueStart.alt=7.0f;issueStart.cmd=22;issueStart.seq=0;issueStart.current=1;
    // Issue location request
    issueStreamReq.targSys=1;issueStreamReq.targComp=1;issueStreamReq.streamID=6;issueStreamReq.rate=5;issueStreamReq.start=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 ",input);
            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){
                        USB::getSerial().printf("\n");
                        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));
                // Start sending location data
                //Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_DATA_STREAM,(char*)&issueStreamReq,sizeof(MAV_DATA_STREAM));
            }//else{
            // Start sending location data
            Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_DATA_STREAM,(char*)&issueStreamReq,sizeof(MAV_DATA_STREAM));
                //Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_LIST,(char*)&req,sizeof(MAV_REQUEST_LIST));
            //}
        }
        // 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];
            issueItem.lon=(float)issueItem.seq;
            // 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){
            // Start
            Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueStart,sizeof(MAV_MISSION_ITEM));
            wait(1);
            // Take off
            Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueTakeOff,sizeof(MAV_MISSION_ITEM));
            wait(1);
            // Start sending location data
            Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_DATA_STREAM,(char*)&issueStreamReq,sizeof(MAV_DATA_STREAM));
            wait(1);
            // Arm motors
            Mav::sendOutput(MAVLINK_MSG_ID_LONG,(char*)&issueArm,sizeof(MAV_APM));
        }
        // Check for GPS
        if(myCmd[5]==33){
            for(int i=0;i<18;i++){USB::getSerial().printf("Got loc %d/18 %d\n",i,myCmd[6+i]);}
            MAV_LOCDATA* input=(MAV_LOCDATA*)&myCmd[6];
            USB::getSerial().printf("Got lat %d\n",input->lat);// %d %d %d %d %d,input->lon,input->alt,input->x,input->y,input->z);
            USB::getSerial().printf("Got lon %d\n",input->lon);
            USB::getSerial().printf("Got alt %d\n",input->alt);
        }
        // Check for waypoint count
        if(myCmd[5]==44){
            USB::getSerial().printf("Waypoints tsys %d tcomp %d cnt %d\n",myCmd[8],myCmd[7],myCmd[6]);
        }
        delete myCmd;
    }
}