arducopter.h

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#ifndef _arducopter_h_
#define _arducopter_h_
 
#include "cfe.h"
#include "cfe_error.h"
#include "cfe_evs.h"
#include "cfe_sb.h"
#include "cfe_es.h"
#include "cfe_platform_cfg.h"
 
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <network_includes.h>
#include <arducopter_table.h>
#include <arducopter_events.h>
#include <arducopter_version.h>
#include <Icarous.h>
 
#include <traffic_msg.h>
#include <traffic_msgids.h>
#include <guidance_msg.h>
#include <guidance_msgids.h>
#include <Guidance.h>
#include <geofence_msg.h>
#include <geofence_msgids.h>
#include <trajectory_msg.h>
#include <trajectory_msgids.h>
#include <sch_msgids.h>
#include <mavlink/ardupilotmega/mavlink.h>
#include <port_lib.h>
 
#define ARDUCOPTER_PIPE_NAME "FLIGHTPLAN"
#define ARDUCOPTER_PIPE_DEPTH 100
 
#define SCH_ARDUCOPTER_PIPE1_NAME "SCH_ARDUCOPTER"
 
typedef enum{
    STABILIZE =     0,  
    ACRO =          1,  
    ALT_HOLD =      2,  
    AUTO =          3,  
    GUIDED =        4,  
    LOITER =        5,  
    RTL =           6,  
    CIRCLE =        7,  
    DRIFT =        11,  
    SPORT =        13,  
    FLIP =         14,  
    AUTOTUNE =     15,  
    POSHOLD =      16,  
    BRAKE =        17,  
    THROW =        18,  
    AVOID_ADSB =   19,  
    GUIDED_NOGPS = 20,  
}controlMode_e;
 
typedef struct{
    CFE_SB_PipeId_t    INTERFACE_Pipe;      
    CFE_SB_PipeId_t    Command_Pipe;        
    CFE_SB_PipeId_t    Traffic_Pipe;        
    CFE_SB_PipeId_t    Band_Pipe;           
    CFE_SB_PipeId_t    SchInterface_Pipe;   
    CFE_SB_MsgPtr_t    INTERFACEMsgPtr;     
    CFE_SB_MsgPtr_t    Sch_MsgPtr;          
    CFE_TBL_Handle_t   INTERFACE_tblHandle; 
    ArducopterTable_t  Table;
    port_t ap;                              
    uint8_t runThreads;                     
    int numWaypoints;                       
    int waypointSeq;                        
    int nextWaypointIndex;                  
    int numGeofences;                       
    int* waypoint_type;                     
    int waypoint_index[MAX_WAYPOINTS];      
    int foundUAV;                           
    uint32_t mutex_read;                    
    uint32_t mutex_write;                   
    bool startWPUplink;
    bool startWPDownlink;
    int recvGeofIndex;                      
    geofence_t gfData[MAX_GEOFENCES];
    uint16_t fenceVertices[MAX_GEOFENCES];
    uint16_t  numUplinkWaypoints;
    uint16_t  numDownlinkWaypoints;
    uint16_t  downlinkRequestIndex;
    controlMode_e currentAPMode;
    uint8_t icarousMode;
    mavlink_mission_item_t UplinkMissionItems[MAX_WAYPOINTS];
    mavlink_mission_item_t DownlinkMissionItems[MAX_WAYPOINTS];
    bool startMission;
    bool restartMission;
    bool fpread;
    mavlink_mission_item_t ReceivedMissionItems[MAX_WAYPOINTS];
    bool takeoff;
 
    int receivingWP;                        
    param_t storedparams[PARAM_COUNT];
    uint32_t wptimer;
    uint32_t gftimer;
    uint32_t pmtimer;
    uint32_t tjtimer;
    uint32_t rcv_wp_seq;
    uint32_t rcv_gf_seq;
    flightplan_t trajectory;
    bool fenceSent;
    bool paramSent;
    bool sentDefaultParams;
 
 
    uint8_t icRcChannel;
    uint32_t pwmStart;
    uint32_t pwmReset;
    bool useVectors;
    callsign_t callsign;
}appdataInt_t;
 
 
void ARDUCOPTER_AppMain(void);
 
void ARDUCOPTER_AppInit(void);
 
void ARDUCOPTER_AppInitializeData(void);
 
void ARDUCOPTER_AppCleanUp(void);
 
void Task1(void);
 
int GetMAVLinkMsgFromAP(void);
 
void ProcessAPMessage(mavlink_message_t message);
 
void ARDUCOPTER_ProcessPacket(void);
 
 
void apSendHeartbeat(void);
 
void apSendCallsign(void);
 
void ap_gfCallback(uint32_t timer);
 
void ap_pmCallback(uint32_t timerId);
 
void ap_tjCallback(uint32_t timerId);
 
 
void ap_startTimer(uint32_t *timerID,void (*f)(uint32_t),char* name,uint32_t startTime,uint32_t intvl);
 
void ap_stopTimer(uint32_t *timerID);
 
void apInterface_PublishParams(void);
 
int32_t ArducopterTableValidationFunc(void *TblPtr);
 
uint16_t apConvertPlanToMissionItems(flightplan_t* fp);
 
void apConvertMissionItemsToPlan(uint16_t size,mavlink_mission_item_t items[],flightplan_t *fp);
 
bool IntfServiceHandler(mavlink_message_t *message);
 
EXTERN appdataInt_t appdataInt;                
EXTERN flightplan_t fpdata;                    
EXTERN missionItemReached_t wpreached;         
EXTERN geofence_t gfdata;                      
EXTERN argsCmd_t startMission;                 
EXTERN noArgsCmd_t resetIcarous;               
EXTERN object_t traffic;                       
EXTERN position_t position;                    
EXTERN local_position_t local_position;        
EXTERN attitude_t attitude;                    
EXTERN battery_status_t battery_status;        
EXTERN cmdAck_t ack;                           
EXTERN vfrhud_t vfrhud;                        
EXTERN rc_channels_t rc_channels;              
EXTERN home_position_t home_position;          
 
 
#endif /* _arducopter_h_ */