Merge pull request #19 from ubcuas/mp_integrate

Mp integrate

configs/mp.go

@@ -202,6 +202,20 @@ func (mp MissionPlanner) Takeoff(alt float64) bool {
 	return resp.StatusCode == http.StatusOK
 }
 
+func (mp MissionPlanner) Arm(arm int) bool {
+	json, err := json.Marshal(map[string]int{
+		"arm": arm,
+	})
+
+	if err != nil {
+		log.Fatal("[MP Functions] Error marshalling arm")
+	}
+
+	resp := genericPost(mp.url+"/arm", json)
+
+	return resp.StatusCode == http.StatusOK
+}
+
 func (mp MissionPlanner) SetHome(waypoint models.Waypoint) bool {
 	mpwp := mpWaypoint{
 		ID:        strconv.Itoa(waypoint.ID),

controllers/drone_controller.go

@@ -58,6 +58,30 @@ func Takeoff(c echo.Context) error {
 	return c.HTML(http.StatusAccepted, "")
 }
 
+// Arm arms the drone 
+//
+//	@Summary		Arm drone
+//	@Description	Arms the drone after takeoff request
+//	@Tags			Drone
+//	@Produce		json
+//	@Success		200	{object}	models.Drone	"Success"
+//	@Router			/status [get]
+func Arm(c echo.Context) error {
+	mp := c.Get("mp").(*configs.MissionPlanner)
+
+	var arm float64
+	json_map := make(map[string]interface{})
+	err := json.NewDecoder(c.Request().Body).Decode(&json_map)
+	if err != nil {
+		return err
+	} else {
+		arm = json_map["arm"].(float64)
+	}
+
+	mp.Arm(int(arm))
+	return c.HTML(http.StatusAccepted, "")
+}
+
 // Land tells the drone to land
 //
 //	@Summary		Take off Drone

main.go

@@ -35,6 +35,7 @@ func main() {
 	}
 
 	e := echo.New()
+	e.Use(middleware.CORS())
 
 	e.Use(util.DBMiddleware(db))
 	e.Use(util.MPMiddleware(mp))
@@ -68,6 +69,7 @@ func main() {
 	e.GET("/drone/queue", controllers.GetQueue)
 	e.POST("/drone/queue", controllers.PostQueue)
 	e.POST("/drone/home", controllers.PostHome)
+	e.POST("/drone/arm", controllers.Arm)
 
 	//Ground Objects
 	e.POST("/groundobject", controllers.CreateGroundObject)