void GroundStation::processPendingDatagrams()
{
while(recvUdpSocket.hasPendingDatagrams())
{
QTextStream(stdout) << "Processing started" << endl;
QByteArray datagram;
datagram.resize(recvUdpSocket.pendingDatagramSize());
// Read from the udpSocket while there is a datagram and store into datagram.
recvUdpSocket.readDatagram(datagram.data(), datagram.size());
//do {
//datagram.resize(udpSocket.pendingDatagramSize());
//udpSocket.readDatagram(datagram.data(), datagram.size());
//} while (udpSocket.hasPendingDatagrams());
//QDataStream in(&datagram, QIODevice::ReadOnly);
//in.setVersion(QDataStream::Qt_4_3);
// Validates check sum first and then convert Datagram into proper packet.
Protocol::Packet* packet = Protocol::Packet::Parse((uint8_t*)datagram.data(), datagram.size());
Protocol::PacketType packet_type = packet->get_type();
// Depending on the type call the proper method to extract packet's information and print
if(packet != nullptr)
{
QTextStream(stdout) << "Packet number " << GroundStation::NUM_RECV_PACKETS + 1 << endl;
switch(packet_type)
{
case Protocol::PacketType::Action:
print_action_packet(*dynamic_cast<Protocol::ActionPacket*>(packet));
break;
case Protocol::PacketType::Ack:
print_ack_packet(*dynamic_cast<Protocol::AckPacket*>(packet));
break;
case Protocol::PacketType::Info:
print_info_packet(*dynamic_cast<Protocol::InfoPacket*>(packet));
break;
case Protocol::PacketType::Telem:
print_telemetry_packet(*dynamic_cast<Protocol::TelemetryPacket*>(packet));
break;
default:
break;
}
QTextStream(stdout) << ""<< endl;
++GroundStation::NUM_RECV_PACKETS; }
else
{
QTextStream(stdout) << "ERROR: Packet is invalid" << endl;
}
}
}
void UAV::processPendingDatagrams()
{
QTextStream(stdout) << "data recieved!" << endl;
while(recvUdpSocket.hasPendingDatagrams())
{
QTextStream(stdout) << "Processing started" << endl;
QByteArray datagram;
datagram.resize(recvUdpSocket.pendingDatagramSize());
// Read from the udpSocket while there is a datagram and store into datagram.
recvUdpSocket.readDatagram(datagram.data(), datagram.size());
// Validates check sum first and then convert Datagram into proper packet.
Protocol::Packet* packet = Protocol::Packet::Parse((uint8_t*)datagram.data(), datagram.size());
Protocol::PacketType packet_type = packet->get_type();
// Depending on the type call the proper method to extract packet's information and print
if(packet != nullptr)
{
QTextStream(stdout) << "Packet number " << UAV::NUM_RECV_PACKETS + 1 << endl;
switch(packet_type)
{
case Protocol::PacketType::Action:
print_action_packet(*dynamic_cast<Protocol::ActionPacket*>(packet));
respond_to_action_packet(*dynamic_cast<Protocol::ActionPacket*>(packet));
sendAckPacket(packet, "Action Packet");
break;
case Protocol::PacketType::Ack:
print_ack_packet(*dynamic_cast<Protocol::AckPacket*>(packet));
break;
case Protocol::PacketType::Info:
print_info_packet(*dynamic_cast<Protocol::InfoPacket*>(packet));
sendAckPacket(packet, "Info Packet");
break;
case Protocol::PacketType::Telem:
print_telemetry_packet(*dynamic_cast<Protocol::TelemetryPacket*>(packet));
sendAckPacket(packet, "Telemetry Packet");
break;
default:
break;
}
QTextStream(stdout) << ""<< endl;
++UAV::NUM_RECV_PACKETS;
}
else
{
QTextStream(stdout) << "ERROR: Packet is invalid" << endl;
}
}
}