void HeartbeatAgent::readBack(InReq &req)
{
MsgHeader header = req.m_msgHeader;
uint32_t cmd = header.cmd;
int ret = -1;
switch(cmd)
{
case MSG_MU_CS_HEARTBEAT_HANDSHAKE :
{
ret = do_heartbeat_handshake(MU_HEARTBEAT , req);
if(ret < 0)
{
LOG_ERROR("HeartbeatAgent::do mu heartbeat handshake error !");
}
break ;
}
case MSG_SU_CS_HEARTBEAT_HANDSHAKE :
{
ret = do_heartbeat_handshake(SU_HEARTBEAT , req);
if(ret < 0)
{
LOG_ERROR("HeartbeatAgent::do su heartbeat handshake error !");
}
break ;
}
case MSG_MU_CS_HEARTBEAT :
{
ret = do_heartbeat(MU_HEARTBEAT , req);
if(ret < 0)
{
LOG_ERROR("HeartbeatAgent::do mu heartbeat error !");
}
break ;
}
case MSG_SU_CS_HEARTBEAT :
{
ret = do_heartbeat(SU_HEARTBEAT , req);
if(ret < 0)
{
LOG_ERROR("HeartbeatAgent::do su heartbeat error !");
}
break ;
}
case MSG_RS_CS_HEARTBEAT :
{
ret = do_heartbeat(RS_HEARTBEAT , req);
if(ret < 0)
{
LOG_ERROR("HeartbeatAgent::do rs heartbeat error !");
}
break ;
}
default :
LOG_ERROR("HeartbeatAgent::Undefined cmd type : " + int_to_str(cmd));
break ;
}
}
void on_20ms_event()
{
pf_on_20_ms_event();
telemetry::filter_pos();
do_heartbeat();
update_leds();
}
