moved BVM state publisher to buzz_utility

include/buzz_utility.h

@@ -77,4 +77,6 @@ buzzvm_t get_vm();
 void set_robot_var(int ROBOTS);
 
 int get_inmsg_size();
+
+std::string getuavstate();
 }

include/buzzuav_closures.h

@@ -98,10 +98,7 @@ double* getgoto();
  * returns the current grid
  */
 std::map<int, std::map<int,int>> getgrid();
-/*
+
- * returns the current Buzz state
- */
-std::string getuavstate();
 /*
  * returns the gimbal commands
  */

src/buzz_utility.cpp

@@ -564,4 +564,19 @@ int get_inmsg_size()
 {
   return IN_MSG.size();
 }
+string getuavstate()
+/*
+/ return current BVM state
+---------------------------------------*/
+{
+  std::string uav_state = "Unknown";
+  if(VM && VM->strings){
+    buzzvm_pushs(VM, buzzvm_string_register(VM, "BVMSTATE", 1));
+    buzzvm_gload(VM);
+    buzzobj_t obj = buzzvm_stack_at(VM, 1);
+    uav_state = string(obj->s.value.str);
+    buzzvm_pop(VM);
+  }
+  return uav_state;
+}
 }

src/buzzuav_closures.cpp

@@ -479,19 +479,6 @@ float* getgimbal()
   return rc_gimbal;
 }
 
-string getuavstate()
-/*
-/ return current BVM state
----------------------------------------*/
-{
-  static buzzvm_t VM = buzz_utility::get_vm();
-  buzzvm_pushs(VM, buzzvm_string_register(VM, "BVMSTATE", 1));
-  buzzvm_gload(VM);
-  buzzobj_t uav_state = buzzvm_stack_at(VM, 1);
-  buzzvm_pop(VM);
-  return uav_state->s.value.str;
-}
-
 int getcmd()
 /*
 / return current mavros command to the FC

src/roscontroller.cpp

@@ -475,7 +475,7 @@ void roscontroller::uavstate_publisher()
 /----------------------------------------------------*/
 {
   std_msgs::String uavstate_msg;
-  uavstate_msg.data = buzzuav_closures::getuavstate();
+  uavstate_msg.data = buzz_utility::getuavstate();
   uavstate_pub.publish(uavstate_msg);
 }