MavlinkMessagesTimer.cc 1.58 KB
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/****************************************************************************
 *
Gus Grubba's avatar
Gus Grubba committed
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 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

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#include "MavlinkMessagesTimer.h"
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#include <QDebug>

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MavlinkMessagesTimer::MavlinkMessagesTimer(int vehicle_id, bool high_latency) :
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    _active(true),
    _timer(new QTimer),
    _vehicleID(vehicle_id),
    _high_latency(high_latency)
{
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}

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void MavlinkMessagesTimer::init()
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{
    if (!_high_latency) {
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        _timer->setInterval(_messageReceivedTimeoutMSecs);
        _timer->setSingleShot(false);
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        _timer->start();
    }
    emit activeChanged(true, _vehicleID);
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    QObject::connect(_timer, &QTimer::timeout, this, &MavlinkMessagesTimer::timerTimeout);
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}

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MavlinkMessagesTimer::~MavlinkMessagesTimer()
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{
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    if (_timer) {
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        QObject::disconnect(_timer, &QTimer::timeout, this, &MavlinkMessagesTimer::timerTimeout);
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        _timer->stop();
        delete _timer;
        _timer = nullptr;
    }

    emit activeChanged(false, _vehicleID);
}

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void MavlinkMessagesTimer::restartTimer()
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{
    if (!_active) {
        _active = true;
        emit activeChanged(true, _vehicleID);
    }

    _timer->start();
}

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void MavlinkMessagesTimer::timerTimeout()
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{
    if (!_high_latency) {
        if (_active) {
            _active = false;
            emit activeChanged(false, _vehicleID);
        }
        emit heartbeatTimeout(_vehicleID);
    }
}