From 9f05e54d908ac6d5af1cd7a659162c74167e0a16 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 15 May 2015 12:59:09 +1000
Subject: [PATCH] Replay: added support for EV message for copter arming

---
 Tools/Replay/LogReader.cpp        |  4 ++++
 Tools/Replay/MsgHandler_Event.cpp | 21 +++++++++++++++++++++
 Tools/Replay/MsgHandler_Event.h   | 11 +++++++++++
 Tools/Replay/Replay.pde           |  7 ++-----
 4 files changed, 38 insertions(+), 5 deletions(-)
 create mode 100644 Tools/Replay/MsgHandler_Event.cpp
 create mode 100644 Tools/Replay/MsgHandler_Event.h

diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp
index c655798966..86d046e35e 100644
--- a/Tools/Replay/LogReader.cpp
+++ b/Tools/Replay/LogReader.cpp
@@ -27,6 +27,7 @@
 #include "MsgHandler_SIM.h"
 #include "MsgHandler_BARO.h"
 #include "MsgHandler_ARM.h"
+#include "MsgHandler_Event.h"
 #include "MsgHandler_AHR2.h"
 #include "MsgHandler_ATT.h"
 #include "MsgHandler_MAG.h"
@@ -165,6 +166,9 @@ bool LogReader::update(char type[5])
 	} else if (streq(name, "ARM")) {
 	  msgparser[f.type] = new MsgHandler_ARM(formats[f.type], dataflash,
                                                   last_timestamp_usec);
+	} else if (streq(name, "EV")) {
+	  msgparser[f.type] = new MsgHandler_Event(formats[f.type], dataflash,
+                                                  last_timestamp_usec);
 	} else if (streq(name, "AHR2")) {
 	  msgparser[f.type] = new MsgHandler_AHR2(formats[f.type], dataflash,
 						  last_timestamp_usec,
diff --git a/Tools/Replay/MsgHandler_Event.cpp b/Tools/Replay/MsgHandler_Event.cpp
new file mode 100644
index 0000000000..d3bf9f67ba
--- /dev/null
+++ b/Tools/Replay/MsgHandler_Event.cpp
@@ -0,0 +1,21 @@
+#include "MsgHandler_Event.h"
+
+extern const AP_HAL::HAL& hal;
+
+#define DATA_ARMED                          10
+#define DATA_DISARMED                       11
+
+void MsgHandler_Event::process_message(uint8_t *msg)
+{
+    uint8_t id = require_field_uint8_t(msg, "Id");
+    if (id == DATA_ARMED) {
+        hal.util->set_soft_armed(true);
+        printf("Armed at %lu\n", 
+               (unsigned long)hal.scheduler->millis());
+    } else if (id == DATA_DISARMED) {
+        hal.util->set_soft_armed(false);
+        printf("Disarmed at %lu\n", 
+               (unsigned long)hal.scheduler->millis());
+    }
+    dataflash.WriteBlock(msg, f.length);
+}
diff --git a/Tools/Replay/MsgHandler_Event.h b/Tools/Replay/MsgHandler_Event.h
new file mode 100644
index 0000000000..9e15527f4a
--- /dev/null
+++ b/Tools/Replay/MsgHandler_Event.h
@@ -0,0 +1,11 @@
+#include "MsgHandler.h"
+
+class MsgHandler_Event : public MsgHandler
+{
+public:
+    MsgHandler_Event(log_Format &_f, DataFlash_Class &_dataflash,
+                   uint64_t &_last_timestamp_usec)
+        : MsgHandler(_f, _dataflash, _last_timestamp_usec) { };
+
+    virtual void process_message(uint8_t *msg);
+};
diff --git a/Tools/Replay/Replay.pde b/Tools/Replay/Replay.pde
index 93f598ac11..0d2efb111c 100644
--- a/Tools/Replay/Replay.pde
+++ b/Tools/Replay/Replay.pde
@@ -213,11 +213,8 @@ void setup()
     ahrs.set_wind_estimation(true);
     ahrs.set_correct_centrifugal(true);
 
-    if (arm_time_ms != 0) {
-        hal.util->set_soft_armed(false);
-    } else {
-        hal.util->set_soft_armed(true);
-    }
+    printf("Starting disarmed\n");
+    hal.util->set_soft_armed(false);
 
     barometer.init();
     barometer.setHIL(0);