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.
jhonconal · Dec 16, 2010 · f14ba61 · f14ba61
1 parent f731943
commit f14ba61
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diff --git 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
@@ -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();