/**
* Function called in response to object updates.
* Used to force kill the VM thread.
*/
static void objectUpdatedCb(UAVObjEvent * ev)
{
FlightPlanControlData controlData;
FlightPlanStatusData statusData;
// If the object updated was the FlightPlanControl execute requested action
if ( ev->obj == FlightPlanControlHandle() )
{
// Get data
FlightPlanControlGet(&controlData);
// Execute command
if ( controlData.Command == FLIGHTPLANCONTROL_COMMAND_START )
{
// Start VM task if not running already
if ( taskHandle == NULL )
{
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
}
}
else if ( controlData.Command == FLIGHTPLANCONTROL_COMMAND_KILL )
{
// Force kill VM task if it is already running
// (NOTE: the STOP command is preferred as it allows the script to terminate without killing the VM)
if ( taskHandle != NULL )
{
// Kill VM
TaskMonitorRemove(TASKINFO_RUNNING_FLIGHTPLAN);
vTaskDelete(taskHandle);
taskHandle = NULL;
// Update status object
statusData.Status = FLIGHTPLANSTATUS_STATUS_STOPPED;
statusData.ErrorFileID = 0;
statusData.ErrorLineNum = 0;
statusData.ErrorType = FLIGHTPLANSTATUS_ERRORTYPE_NONE;
statusData.Debug[0] = 0.0;
statusData.Debug[1] = 0.0;
FlightPlanStatusSet(&statusData);
}
}
}
}
void FlightPlanControlCommandGet( uint8_t *NewCommand )
{
UAVObjGetDataField(FlightPlanControlHandle(), (void*)NewCommand, offsetof( FlightPlanControlData, Command), sizeof(uint8_t));
}
