/**
* Telemetry transmit task. Processes queue events and periodic updates.
*/
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB_HID)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_HID_CheckAvailable(0)) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
{
inputPort = telemetryPort;
}
if (inputPort) {
// Block until data are available
uint8_t serial_data[1];
uint16_t bytes_to_process;
bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), 500);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
UAVTalkProcessInputStream(serial_data[i]);
}
}
} else {
vTaskDelay(5);
}
}
}
static void uavoRelayTask(void *parameters)
{
UAVObjEvent ev;
// Loop forever
while (1) {
PIOS_Thread_Sleep(50);
// Wait for queue message
if (PIOS_Queue_Receive(queue, &ev, 2) == true) {
// Process event. This calls transmitData
UAVTalkSendObject(uavTalkCon, ev.obj, ev.instId, false, 0);
}
// Process incoming data in sufficient chunks that we keep up
uint8_t serial_data[8];
uint16_t bytes_to_process;
bytes_to_process = PIOS_COM_ReceiveBuffer(uavorelay_com_id, serial_data, sizeof(serial_data), 0);
do {
bytes_to_process = PIOS_COM_ReceiveBuffer(uavorelay_com_id, serial_data, sizeof(serial_data), 0);
for (uint8_t i = 0; i < bytes_to_process; i++)
UAVTalkProcessInputStream(uavTalkCon,serial_data[i]);
} while (bytes_to_process > 0);
}
}
/**
* Telemetry transmit task. Processes queue events and periodic updates.
*/
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
int32_t len;
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB_HID)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_HID_CheckAvailable(0)) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
{
inputPort = telemetryPort;
}
// Block until data are available
// TODO: Currently we periodically check the buffer for data, update once the PIOS_COM is made blocking
len = PIOS_COM_ReceiveBufferUsed(inputPort);
for (int32_t n = 0; n < len; ++n) {
UAVTalkProcessInputStream(PIOS_COM_ReceiveBuffer(inputPort));
}
vTaskDelay(5); // <- remove when blocking calls are implemented
}
}
