From 4031f7d368e1a429d71867480311463b4246f6bc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 19 Mar 2014 10:56:25 +1100
Subject: [PATCH] Plane: use common deferred message handling

---
 ArduPlane/GCS_Mavlink.pde | 72 ++-------------------------------------
 1 file changed, 3 insertions(+), 69 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 090a7bc060..5c9f2ca2bf 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -617,7 +617,7 @@ static bool telemetry_delayed(mavlink_channel_t chan)
 
 
 // try to send a message, return false if it won't fit in the serial tx buffer
-static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id)
+bool GCS_MAVLINK::try_send_message(enum ap_message id)
 {
     int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
 
@@ -781,64 +781,6 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id)
 }
 
 
-#define MAX_DEFERRED_MESSAGES MSG_RETRY_DEFERRED
-static struct mavlink_queue {
-    enum ap_message deferred_messages[MAX_DEFERRED_MESSAGES];
-    uint8_t next_deferred_message;
-    uint8_t num_deferred_messages;
-} mavlink_queue[MAVLINK_COMM_NUM_BUFFERS];
-
-// send a message using mavlink
-static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id)
-{
-    uint8_t i, nextid;
-    struct mavlink_queue *q = &mavlink_queue[(uint8_t)chan];
-
-    // see if we can send the deferred messages, if any
-    while (q->num_deferred_messages != 0) {
-        if (!mavlink_try_send_message(chan,
-                                      q->deferred_messages[q->next_deferred_message])) {
-            break;
-        }
-        q->next_deferred_message++;
-        if (q->next_deferred_message == MAX_DEFERRED_MESSAGES) {
-            q->next_deferred_message = 0;
-        }
-        q->num_deferred_messages--;
-    }
-
-    if (id == MSG_RETRY_DEFERRED) {
-        return;
-    }
-
-    // this message id might already be deferred
-    for (i=0, nextid = q->next_deferred_message; i < q->num_deferred_messages; i++) {
-        if (q->deferred_messages[nextid] == id) {
-            // its already deferred, discard
-            return;
-        }
-        nextid++;
-        if (nextid == MAX_DEFERRED_MESSAGES) {
-            nextid = 0;
-        }
-    }
-
-    if (q->num_deferred_messages != 0 ||
-        !mavlink_try_send_message(chan, id)) {
-        // can't send it now, so defer it
-        if (q->num_deferred_messages == MAX_DEFERRED_MESSAGES) {
-            // the defer buffer is full, discard
-            return;
-        }
-        nextid = q->next_deferred_message + q->num_deferred_messages;
-        if (nextid >= MAX_DEFERRED_MESSAGES) {
-            nextid -= MAX_DEFERRED_MESSAGES;
-        }
-        q->deferred_messages[nextid] = id;
-        q->num_deferred_messages++;
-    }
-}
-
 /*
   default stream rates to 1Hz
  */
@@ -1119,14 +1061,6 @@ GCS_MAVLINK::data_stream_send(void)
 }
 
 
-
-void
-GCS_MAVLINK::send_message(enum ap_message id)
-{
-    mavlink_send_message(chan, id);
-}
-
-
 /*
   handle a request to switch to guided mode. This happens via a
   callback from handle_mission_item()
@@ -1799,11 +1733,11 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...)
 #if LOGGING_ENABLED == ENABLED
     DataFlash.Log_Write_Message(gcs[0].pending_status.text);
 #endif
-    mavlink_send_message(MAVLINK_COMM_0, MSG_STATUSTEXT);
+    gcs[0].send_message(MSG_STATUSTEXT);
     for (uint8_t i=1; i<num_gcs; i++) {
         if (gcs[i].initialised) {
             gcs[i].pending_status = gcs[0].pending_status;
-            mavlink_send_message((mavlink_channel_t)i, MSG_STATUSTEXT);
+            gcs[i].send_message(MSG_STATUSTEXT);
         }
     }
 }