From 7c4d31e5af4ed18d3e3bcb54149a9e2d577713cb Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Wed, 5 Dec 2018 10:20:18 -0200
Subject: [PATCH] LinkManager.cc: Add udp link to groundstation position

---
 src/comm/LinkManager.cc | 22 ++++++++++++++++++++++
 src/comm/LinkManager.h  |  2 ++
 2 files changed, 24 insertions(+)

diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
index 036441a4b..6f511c822 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -479,6 +479,27 @@ void LinkManager::_updateAutoConnectLinks(void)
         createConnectedLink(config);
         emit linkConfigurationsChanged();
     }
+#ifndef __mobile__
+    // check to see if nmea gps is configured for UDP input, if so, set it up to connect
+    if (_autoConnectSettings->autoConnectNmeaPort()->cookedValueString() == "UDP Port") {
+        if (_nmeaSocket.localPort() != _autoConnectSettings->nmeaUdpPort()->rawValue().toUInt()
+                || _nmeaSocket.state() != UdpIODevice::BoundState) {
+            qCDebug(LinkManagerLog) << "Changing port for UDP NMEA stream";
+            _nmeaSocket.close();
+            _nmeaSocket.bind(QHostAddress::AnyIPv4, _autoConnectSettings->nmeaUdpPort()->rawValue().toUInt());
+            _toolbox->qgcPositionManager()->setNmeaSourceDevice(&_nmeaSocket);
+        }
+        //close serial port
+        if (_nmeaPort) {
+            _nmeaPort->close();
+            delete _nmeaPort;
+            _nmeaPort = nullptr;
+            _nmeaDeviceName = "";
+        }
+    } else {
+        _nmeaSocket.close();
+    }
+#endif
 
 #ifndef NO_SERIAL_LINK
     QStringList currentPorts;
@@ -513,6 +534,7 @@ void LinkManager::_updateAutoConnectLinks(void)
 
 #ifndef NO_SERIAL_LINK
 #ifndef __mobile__
+        // check to see if nmea gps is configured for current Serial port, if so, set it up to connect
         if (portInfo.systemLocation().trimmed() == _autoConnectSettings->autoConnectNmeaPort()->cookedValueString()) {
             if (portInfo.systemLocation().trimmed() != _nmeaDeviceName) {
                 _nmeaDeviceName = portInfo.systemLocation().trimmed();
diff --git a/src/comm/LinkManager.h b/src/comm/LinkManager.h
index f09360142..8322e1c6f 100644
--- a/src/comm/LinkManager.h
+++ b/src/comm/LinkManager.h
@@ -25,6 +25,7 @@
 #include "MAVLinkProtocol.h"
 #if !defined(__mobile__)
 #include "LogReplayLink.h"
+#include "UdpIODevice.h"
 #endif
 #include "QmlObjectListModel.h"
 
@@ -241,6 +242,7 @@ private:
     QString      _nmeaDeviceName;
     QSerialPort* _nmeaPort;
     uint32_t     _nmeaBaud;
+    UdpIODevice  _nmeaSocket;
 #endif
 #endif
 };
-- 
2.22.0