void AbstractEARAClient::broadcastPEANT() {
logDebug("Sending new PEANT over all interfaces");
for(auto& interface: interfaces) {
AddressPtr source = interface->getLocalAddress();
unsigned int sequenceNr = getNextSequenceNumber();
Packet* peant = packetFactory->makePEANT(source, sequenceNr);
interface->broadcast(peant);
}
}
QString PCMDCommand::getCommand()
{
return QString("AT*PCMD=%1,%2,%3,%4,%5,%6\r")
.arg(getNextSequenceNumber())
.arg((int)mode)
.arg(reinterpret_cast<int&>(roll))
.arg(reinterpret_cast<int&>(pitch))
.arg(reinterpret_cast<int&>(gaz))
.arg(reinterpret_cast<int&>(yaw));
}
/*!
* \brief COMWDGCommand::getCommand Creates the explicit CuteCommand of this type
*
* The sequence number is incremented with every call
*
* \return QString
*/
QString COMWDGCommand::getCommand()
{
return QString("AT*COMWDG=%1\r").arg(getNextSequenceNumber());
}
/*!
* \brief CALIBCommand::getCommand Creates the explicit CuteCommand of this type
*
* The sequence number is incremented with every call
*
* \return QString
*/
QString CALIBCommand::getCommand()
{
return QString("AT*CALIB=%1,%2\r")
.arg(getNextSequenceNumber())
.arg(callib ? 1 : 0);
}
