From f14ba61fbf087d0aa5e8ec654383aaeb28506f98 Mon Sep 17 00:00:00 2001
From: Brandon Wampler <brandon.wampler@gmail.com>
Date: Thu, 16 Dec 2010 15:02:48 -0500
Subject: [PATCH] hacked a forwarding function for patch antennas

added forwardMessage() function to send out Global Position over serial links
that are not part of the UAS's link list.
---
 src/uas/UAS.cc | 28 +++++++++++++++++++++++++++-
 src/uas/UAS.h  |  3 +++
 2 files changed, 30 insertions(+), 1 deletion(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 95d941a07..f503a062e 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -43,6 +43,8 @@ This file is part of the QGROUNDCONTROL project
 #include "GAudioOutput.h"
 #include "MAVLinkProtocol.h"
 #include "QGCMAVLink.h"
+#include "LinkManager.h"
+#include "SerialLink.h"
 
 
 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
@@ -373,6 +375,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     GAudioOutput::instance()->notifyPositive();
                 }
                 positionLock = true;
+                //TODO fix this hack for forwarding of global position for patch antenna tracking
+                forwardMessage(message);
             }
             break;
         case MAVLINK_MSG_ID_GPS_RAW:
@@ -834,6 +838,28 @@ void UAS::sendMessage(mavlink_message_t message)
     }
 }
 
+void UAS::forwardMessage(mavlink_message_t message)
+{
+    // Emit message on all links that are currently connected
+    QList<LinkInterface*>link_list = LinkManager::instance()->getLinksForProtocol(mavlink);
+    foreach(LinkInterface* link, link_list)
+    {
+        SerialLink* serial = dynamic_cast<SerialLink*>(link);
+        if(serial != 0)
+        {
+
+            for(int i=0;i<links->size();i++)
+            {
+                if(serial != links->at(i))
+                {
+                    qDebug()<<"Forwarding Over link: "<<serial->getName()<<" "<<serial;
+                    sendMessage(serial, message);
+                }
+            }
+        }
+    }
+}
+
 void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
 {
     if(!link) return;
@@ -1506,7 +1532,7 @@ void UAS::addLink(LinkInterface* link)
         links->append(link);
     }
     //links->append(link);
-    //qDebug() << " ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK";
+    qDebug() << link<<" ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK";
 }
 
 /**
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 65b514b23..22c655f19 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -218,6 +218,9 @@ public slots:
     /** @brief Send a message over all links this UAS can be reached with (!= all links) */
     void sendMessage(mavlink_message_t message);
 
+    /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
+    void forwardMessage(mavlink_message_t message);
+
     /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
     void setSelected();
 
-- 
2.22.0