gsInterface.h

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#ifndef _gsInterface_h_
#define _gsInterface_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 <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <unistd.h>
#include <network_includes.h>
#include <time.h>
#include "Icarous.h"
 
#include "sch_msgids.h"
#include "gsInterface_table.h"
 
#ifdef APPDEF_TRAFFIC
#include "traffic_msg.h"
#include "traffic_msgids.h"
#endif
 
#ifdef APPDEF_TRACKING
#include "tracking_msg.h"
#include "tracking_msgids.h"
#endif 
 
#ifdef APPDEF_TRAJECTORY
#include "trajectory_msg.h"
#include "trajectory_msgids.h"
#endif 
 
#ifdef APPDEF_GEOFENCE
#include "geofence_msg.h"
#include "geofence_msgids.h"
#endif
 
#ifdef APPDEF_ROTORSIM
#include "rotorsim_msg.h"
#include "rotorsim_msgids.h"
#endif
 
#ifdef APPDEF_MERGER
#include "merger_msg.h"
#include "merger_msgids.h"
#endif
 
#include "mavlink/ardupilotmega/mavlink.h"
#include "port_lib.h"
 
 
#define BUFFER_LENGTH 1000  
 
#define GSINTERFACE_PIPE_NAME "GSINTF_PIPE"
#define GSINTERFACE_PIPE_DEPTH 100
 
#define GSINT_TRAJ_PIPE_NAME "GSTRAJ_PIPE"
 
 
#define SCH_GSINTERFACE_PIPE1_NAME "SCH_GSINTERFACE"
 
 
typedef struct{
    CFE_SB_PipeId_t    INTERFACE_Pipe;      
    CFE_SB_PipeId_t    Traffic_Pipe;        
    CFE_SB_PipeId_t    Traj_Pipe;           
    CFE_SB_PipeId_t    Band_Pipe;           
    CFE_SB_PipeId_t    Command_Pipe;        
    CFE_SB_PipeId_t    SchInterface_Pipe;   
    CFE_SB_MsgPtr_t    INTERFACEMsgPtr;     
    CFE_SB_MsgPtr_t    Sch_MsgPtr;          
    CFE_TBL_Handle_t   INTERFACE_tblHandle; 
    gsInterfaceTable_t Tbl;                 
    port_t gs;                              
    int receivingWP;                        
    int numWaypoints;                       
    int numGeofences;                       
    int recvGeofIndex;                      
    int waypointSeq;                        
    int nextWaypointIndex;                  
    int hbeatFreqCount;                     
    mavlink_mission_item_t ReceivedMissionItems[MAX_WAYPOINTS];
    mavlink_mission_item_int_t ReceivedMissionItemsInt[MAX_WAYPOINTS];
    flightplan_t fpData;
    flightplan_t mgData;
    flightplan_t trajectory;
    argsCmd_t startMission;
    geofence_t gfData[MAX_GEOFENCES];
    uint16_t fenceVertices[MAX_GEOFENCES];
    object_t traffic;
    noArgsCmd_t resetIcarous;
    uint8_t currentApMode;
    uint8_t currentIcarousMode;
    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;
    bool fenceSent;
    bool paramSent;
    bool publishDefaultParams;
    callsign_t callsign;
}appdataIntGS_t;
 
void gsInterface_AppMain(void);
 
void gsInterface_AppInit(void);
 
void gsInterface_InitializeAppData(void);
 
void gsInterface_AppCleanUp(void);
 
int GetMAVLinkMsgFromGS(void);
 
void ProcessGSMessage(mavlink_message_t message);
 
void gsInterface_ProcessPacket(void);
 
void gsSendHeartbeat(void);
 
void gsSendCallsign(void);
 
 
int32_t gsInterfaceTableValidationFunc(void *TblPtr);
 
 
void gsInterface_PublishParams(void);
 
void gsConvertMissionItemsToPlan(uint16_t  size, mavlink_mission_item_t items[],flightplan_t* fp);
void gsConvertMissionItemsIntToPlan(uint16_t  size, mavlink_mission_item_int_t items[],flightplan_t* fp);
 
uint16_t gsConvertPlanToMissionItems(flightplan_t* fp);
 
void gs_wpCallback(uint32_t timer);
 
void gs_gfCallback(uint32_t timer);
 
void gs_pmCallback(uint32_t timerId);
 
void gs_tjCallback(uint32_t timerId);
 
void gs_startTimer(uint32_t *timerID,void (*f)(uint32_t),char* name,uint32_t startTime,uint32_t intvl);
 
void gs_stopTimer(uint32_t *timerID);
 
void gsFragmentBands(bands_t *bands,uint8_t bandtype);
 
#define SendGSMsg(arg) writeMavlinkData(&appdataIntGS.gs,&arg)
 
#endif