From 7e58bde8268f42e1810e51030540f42935591c63 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 21 Mar 2013 21:55:12 +1100
Subject: [PATCH] GCS_MAVLink: added comm_is_idle() function

this will make CLI detection more reliable
---
 libraries/GCS_MAVLink/GCS_MAVLink.cpp | 12 ++++++++++++
 libraries/GCS_MAVLink/GCS_MAVLink.h   |  6 ++++++
 2 files changed, 18 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.cpp b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
index ed7aef2006..081fa24586 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink.cpp
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
@@ -75,3 +75,15 @@ uint8_t mavlink_get_message_crc(uint8_t msgid)
 {
 	return pgm_read_byte(&mavlink_message_crc_progmem[msgid]);
 }
+
+extern const AP_HAL::HAL& hal;
+
+/*
+  return true if the MAVLink parser is idle, so there is no partly parsed
+  MAVLink message being processed
+ */
+bool comm_is_idle(mavlink_channel_t chan)
+{
+	mavlink_status_t *status = mavlink_get_channel_status(chan);
+	return status == NULL || status->parse_state <= MAVLINK_PARSE_STATE_IDLE;
+}
diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.h b/libraries/GCS_MAVLink/GCS_MAVLink.h
index 1728b39435..3e55382971 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink.h
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.h
@@ -142,6 +142,12 @@ static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
 }
 #endif
 
+/*
+  return true if the MAVLink parser is idle, so there is no partly parsed
+  MAVLink message being processed
+ */
+bool comm_is_idle(mavlink_channel_t chan);
+
 #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
 #include "include/mavlink/v1.0/ardupilotmega/mavlink.h"