From 970dbf3c8d091188589618934cbdfd4d730f52a0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 21 Jan 2016 17:55:50 +1100
Subject: [PATCH] GCS_MAVLink: fixed build with MAVLink1

---
 libraries/GCS_MAVLink/GCS.h           |  9 +++++++++
 libraries/GCS_MAVLink/GCS_Common.cpp  | 11 ++---------
 libraries/GCS_MAVLink/GCS_Signing.cpp | 28 ++++++++++++++++++++++++++-
 3 files changed, 38 insertions(+), 10 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index dbefaa3865..d679f7b7a1 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -203,6 +203,9 @@ public:
     static void set_dataflash(DataFlash_Class *dataflash) {
         dataflash_p = dataflash;
     }
+
+    // update signing timestamp on GPS lock
+    static void update_signing_timestamp(uint64_t timestamp_usec);
     
 private:
     float       adjust_rate_for_stream_trigger(enum streams stream_num);
@@ -356,8 +359,14 @@ private:
     // return true if this channel has hardware flow control
     bool have_flow_control(void);
 
+#if MAVLINK_PROTOCOL_VERSION >= 2
+    mavlink_signing_t signing;
+    static mavlink_signing_streams_t signing_streams;
+    
+    static StorageAccess _signing_storage;
     void handle_setup_signing(const mavlink_message_t *msg);
     bool signing_key_save(const struct SigningKey &key);
     bool signing_key_load(struct SigningKey &key);
     void load_signing_key(void);
+#endif // MAVLINK_PROTOCOL_VERSION
 };
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index ed60d3aaeb..65f2f035b6 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -49,15 +49,6 @@ GCS_MAVLINK::init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan)
     initialised = true;
     _queued_parameter = NULL;
     reset_cli_timeout();
-
-    // setup for signing
-	mavlink_status_t *status = mavlink_get_channel_status(chan);
-    signing.flags = MAVLINK_SIGNING_FLAG_SIGN_OUTGOING;
-    signing.link_id = chan;
-    signing.timestamp = 0;
-    memset(signing.secret_key, 42, sizeof(signing.secret_key));
-    status->signing = &signing;
-    
 }
 
 
@@ -110,8 +101,10 @@ GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager
     // and init the gcs instance
     init(uart, mav_chan);
 
+#if MAVLINK_PROTOCOL_VERSION >= 2
     // load signing key
     load_signing_key();
+#endif
 }
 
 /**
diff --git a/libraries/GCS_MAVLink/GCS_Signing.cpp b/libraries/GCS_MAVLink/GCS_Signing.cpp
index 135ebd46c0..b7410973f4 100644
--- a/libraries/GCS_MAVLink/GCS_Signing.cpp
+++ b/libraries/GCS_MAVLink/GCS_Signing.cpp
@@ -21,6 +21,8 @@
 
 extern const AP_HAL::HAL& hal;
 
+#if MAVLINK_PROTOCOL_VERSION >= 2
+
 // storage object
 StorageAccess GCS_MAVLINK::_signing_storage(StorageManager::StorageKeys);
 
@@ -124,10 +126,34 @@ void GCS_MAVLINK::load_signing_key(void)
     }
     memcpy(signing.secret_key, key.secret_key, 32);
     signing.link_id = (uint8_t)chan;
-    signing.timestamp = 1;
+    signing.timestamp = key.timestamp;
     signing.flags = MAVLINK_SIGNING_FLAG_SIGN_OUTGOING;
     signing.accept_unsigned_callback = accept_unsigned_callback;
     
     status->signing = &signing;
     status->signing_streams = &signing_streams;
 }
+
+/*
+  update signing timestamp. This is called when we get GPS lock
+  timestamp_usec is since 1/1/1970 (the epoch)
+ */
+void GCS_MAVLINK::update_signing_timestamp(uint64_t timestamp_usec)
+{
+    uint64_t signing_timestamp = (timestamp_usec / 1000*1000UL);
+    const uint64_t epoch_offset = 1420070400;
+    if (signing_timestamp > epoch_offset) {
+        signing_timestamp -= epoch_offset;
+    }
+    for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
+        mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0 + i);
+        mavlink_status_t *status = mavlink_get_channel_status(chan);
+        if (status && status->signing && status->signing->timestamp < signing_timestamp) {
+            status->signing->timestamp = signing_timestamp;
+        }
+    }
+}
+
+#else
+void GCS_MAVLINK::update_signing_timestamp(uint64_t timestamp_usec) {}
+#endif // MAVLINK_PROTOCOL_VERSION