//! Dispatch message to the message bus in reply to another
//! message.
//! @param[in] original original message.
//! @param[in] msg message reference.
//! @param[in] flags bitfield with flags (see Tasks::DispatchFlags).
void
dispatchReply(const IMC::Message& original, IMC::Message& msg, unsigned int flags = 0)
{
msg.setDestination(original.getSource());
msg.setDestinationEntity(original.getSourceEntity());
dispatch(msg, flags);
}
void
MessageMonitor::updateMessage(const IMC::Message* msg)
{
ScopedMutex l(m_mutex);
IMC::Message* tmsg = msg->clone();
unsigned key = tmsg->getId() << 24 | tmsg->getSubId() << 8 | tmsg->getSourceEntity();
if (m_msgs[key])
delete m_msgs[key];
m_msgs[key] = tmsg;
}
void
MessageMonitor::updateMessage(const IMC::Message* msg)
{
ScopedMutex l(m_mutex);
if (msg->getId() == DUNE_IMC_POWERCHANNELSTATE)
updatePowerChannel(static_cast<const IMC::PowerChannelState*>(msg));
IMC::Message* tmsg = msg->clone();
unsigned key = tmsg->getId() << 24 | tmsg->getSubId() << 8 | tmsg->getSourceEntity();
if (m_msgs[key])
delete m_msgs[key];
m_msgs[key] = tmsg;
}