/*!
This function sets up a UDP socket and sends a message to the drone that we are ready to
receive data.
*/
void NavDataHandler::initialize()
{
qDebug() << "[NavDataHandler] Initialize";
QMutexLocker locker(&mMutex);
mDroneResponded = false;
mDroneBooting = true;
// UDP socket for receiving data from the drone.
mUdpSocketNavData = new QUdpSocket(this);
bool res = mUdpSocketNavData->bind(NAVDATA_PORT, QUdpSocket::ShareAddress);
if (!res)
{
qDebug() << "[NavDataHandler] Error connecting to Navdata " << " result:" << res;
}
else
{
connect(mUdpSocketNavData, SIGNAL(readyRead()), this, SLOT(newNavDataReady()));
}
// Send message to drone every 200ms to signal that we are ready to receive data.
mInitTimer = new QTimer(this);
connect(mInitTimer, SIGNAL(timeout()), this, SLOT(sendReadySignal()));
mInitTimer->start(200);
}
int main() {
int isNormal;
setVariables();
while (1) {
calibrateInit();
displayCalibrate();
if(isCalibrated(&gAccRead)) {
standbyInit();
countDown();
while(1) {
if (resetFlag) break;
sendReadySignal();
runTemp(&isNormal);
if (isSafe && isNormal && hasEstablished) {
initActive();
while(1) {
int freq = calculateFreq();
runActive(freq);
runTemp(&isNormal);
if (resetFlag)
break;
if(isMayDay) {
switchDisplayToMayDay();
break;
}
if(!isNormal || !isSafe || standbyFlag) {
standbyFlag = 0;
switchDisplayToStandby();
countDown();
break;
}
}
if(resetFlag) {
switchDisplayToCalibrate();
break;
}
if(isMayDay) {
initMayDay();
runMayDay();
initLight();
switchDisplayToStandby();
countDown();
}
}
}
}
}
}