File indexing completed on 2024-06-09 05:46:34

 /*
  * Copyright 2019 Patrick José Pereira <patrickjp@kde.org>
  *
  * This library is free software; you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public
  * License as published by the Free Software Foundation; either
  * version 2.1 of the License, or (at your option) version 3, or any
  * later version accepted by the membership of KDE e.V. (or its
  * successor approved by the membership of KDE e.V.), which shall
  * act as a proxy defined in Section 6 of version 3 of the license.
  *
  * This library is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  * Lesser General Public License for more details.
  *
  * You should have received a copy of the GNU Lesser General Public
  * License along with this library.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 #include "mavlinkconnection.h"
 
 MAVLinkConnection::MAVLinkConnection(uint8_t channel, QObject *parent)
     : Kirogi::AbstractConnection(parent)
     , m_channel(channel)
 {
     m_gcsHeartbeatTimer.setInterval(1000);
     QObject::connect(&m_gcsHeartbeatTimer, &QTimer::timeout, this, &MAVLinkConnection::sendHeartbeat);
     m_gcsHeartbeatTimer.start();
 }
 
 MAVLinkConnection::~MAVLinkConnection()
 {
 }
 
 void MAVLinkConnection::parseData(const QByteArray &bytes)
 {
     mavlink_status_t *status = mavlink_get_channel_status(m_channel);
 
     for (const auto &byte : bytes) {
         if (!mavlink_parse_char(m_channel, byte, &m_message, status)) {
             continue;
         }
         if (m_message.sysid == MAVLinkPluginConfig::instance().sysid()) {
             continue;
         }
         if (state() < State::Connected) {
             setState(State::Connected);
         }
         emit messageReceived(this, m_message);
     }
 }
 
 void MAVLinkConnection::sendHeartbeat()
 {
     mavlink_message_t message;
     mavlink_msg_heartbeat_pack_chan(MAVLinkPluginConfig::instance().sysid(),
                                     MAVLinkPluginConfig::instance().compid(),
                                     m_channel,
                                     &message,
                                     MAV_TYPE_GCS,
                                     MAV_AUTOPILOT_INVALID,
                                     MAV_MODE_MANUAL_ARMED,
                                     0,
                                     MAV_STATE_ACTIVE);
     sendMessage(message);
 }