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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL 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 General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/
/**
* @file
* @brief Brief Description
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QDebug>
#include <QTime>
#include <MG.h>
#include <AS4Protocol.h>
#include <UASInterface.h>
#include <UASManager.h>
#include <UASInterface.h>
#include <UAS.h>
#include <configuration.h>
#include <LinkManager.h>
#include <inttypes.h>
#include <iostream>
AS4Protocol::AS4Protocol()
{
// Start heartbeat timer, emitting a heartbeat at the configured rate
heartbeatRate = 1; ///< SAE AS-4 has a fixed heartbeat rate of 1 hz.
// heartbeatTimer = new QTimer(this);
// connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT());
// heartbeatTimer->start(1000/heartbeatRate);
/*
// Start the node manager
configData = new FileLoader("nodeManager.conf");
handler = new MyHandler();
try
{
nodeManager = new NodeManager(configData, handler);
qDebug() << "SAE AS-4 NODE MANAGER constructed";
}
catch(char *exceptionString)
{
printf("%s", exceptionString);
printf("Terminating Program...\n");
}
catch(...)
{
printf("Node Manager Construction Failed. Terminating Program...\n");
}
*/
}
AS4Protocol::~AS4Protocol()
{
// delete nodeManager;
// delete handler;
// delete configData;
}
void AS4Protocol::run()
{
}
/**
* @brief Receive bytes from a communication interface.
*
* The bytes copied by calling the LinkInterface::readBytes() method.
*
* @param link The interface to read from
* @see LinkInterface
**/
void AS4Protocol::receiveBytes(LinkInterface* link)
{
// receiveMutex.lock();
// Prepare buffer
//static const int maxlen = 4096 * 100;
//static char buffer[maxlen];
qint64 bytesToRead = link->bytesAvailable();
// Get all data at once, let link read the bytes in the buffer array
//link->readBytes(buffer, maxlen);
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//
// /*
// // Debug output
// std::cerr << "receive buffer: ";
// for (int i = 0; i < bytesToRead; i++)
// {
// std::cerr << std::hex << static_cast<unsigned char>(buffer[i]);
// }
// std::cerr << std::dec << " length: " << bytesToRead;
// */
//
// qDebug() << __FILE__ << __LINE__ << ": buffer size:" << maxlen << "bytes:" << bytesToRead;
//
for (int position = 0; position < bytesToRead; position++)
{
}
// receiveMutex.unlock();
}
/**
* @brief Get the human-readable name of this protocol.
*
* @return The name of this protocol
**/
QString AS4Protocol::getName()
{
return QString(tr("SAE AS-4"));
}
void AS4Protocol::setHeartbeatRate(int rate)
{
heartbeatRate = rate;
heartbeatTimer->setInterval(1000/heartbeatRate);
}
int AS4Protocol::getHeartbeatRate()
{
return heartbeatRate;
}