void Notifier::loop()
{
STACKLOG;
if (!advertised && Config::getServerMode() == SERVER_AUTO)
{
Logger::log(LOG_WARN, "using LAN mode, probably no internet users will "
"be able to join your server!");
}
else if (!advertised && Config::getServerMode() == SERVER_INET)
{
Logger::log(LOG_ERROR, "registration failed, exiting!");
return;
}
//heartbeat
while (!exit)
{
// update some statistics (handy to use in here, as we have a minute-timer basically)
Messaging::updateMinuteStats();
Sequencer::updateMinuteStats();
//Sequencer::printStats();
//every minute
#ifndef _WIN32
sleep(60);
#else
Sleep(60*1000);
#endif
if(advertised && !exit)
{
bool result = sendHearbeat();
if (result) error_count=0;
if(!result && Config::getServerMode() == SERVER_INET)
{
error_count++;
if (error_count==5)
{
Logger::log(LOG_ERROR,"heartbeat failed, exiting!");
break;
}
else
{
Logger::log(LOG_WARN,"heartbeat failed, will try again");
}
}else if(!result && Config::getServerMode() != SERVER_INET)
Logger::log(LOG_ERROR,"heartbeat failed!");
}
}
unregisterServer();
}
void Test::test()
{
// sendHearbeat(false, MAV_STATE_STANDBY);
// battery
updateUI();
sendSystemStatus(100, 12.4);
updateUI();
sendHomePosition(
getRadians(59, 57, 11.44), // 59�'11.44"N
getRadians(30, 18, 51.69), // 30�'51.69"E
0);
updateUI();
sendCurrentPosition(
getRadians(59, 57, 11.44), // 59�'11.44"N
getRadians(30, 18, 51.69), // 30�'51.69"E
200);
updateUI();
sendVfrHud(
10, // ground speed 10 m/s
180, // heading south (180 deg)
70, // 70% throttle
2); // climb rate 2 m/s down
updateUI();
sendEkfStatusReport(0.9);
updateUI();
// Base parameters
sendParameter("WPNAV_SPEED", 500);
sendParameter("WPNAV_SPEED_UP", 250);
sendParameter("WPNAV_SPEED_DN", 150);
sendParameter("RTL_ALT", 1500);
sendParameter("RTL_ALT_FINAL", 0);
sendParameter("LAND_SPEED", 50);
sendParameter("BATT_CAPACITY", 5000);
sendParameter("FS_BATT_MAH", 1000);
sendParameter("FS_BATT_VOLTAGE", 13);
updateUI();
//sendHearbeat(true);
/* sendCurrentPosition(
getRadians(59, 57, 37.56), // 59�'37.56"N
getRadians(30, 18, 47.24), // 30�'47.24"E
10); */
// sendHearbeat(true, MAV_STATE_CRITICAL);
sendStatusText(MAV_SEVERITY_CRITICAL, "Some very very very long status text.");
updateUI();
sendStatusText(MAV_SEVERITY_CRITICAL, "TEST");
updateUI();
sendChannels(1100, 1500);
updateUI();
sendHearbeat(true, MAV_STATE_ACTIVE);
}
