bool operator==(const InlineMessage& other) const { if (isNull() && other.isNull()) return true; if (!isNull() && !other.isNull()) return *(m_msg) == *(other.m_msg); return false; }
void transmitMessage(const std::string& sys, const InlineMessage<IMC::Message>& imsg) { if (!hasTransducer()) return; MicroModemMap::iterator itr = m_ummap.find(sys); if (itr == m_ummap.end()) return; const IMC::Message* msg = NULL; std::string command; try { msg = imsg.get(); } catch (...) { return; } if (msg->getId() == DUNE_IMC_PLANCONTROL) { const IMC::PlanControl* pc = static_cast<const IMC::PlanControl*>(msg); Memory::replace(m_pc, new IMC::PlanControl(*pc)); if (pc->op == IMC::PlanControl::PC_START) { std::vector<char> pmsg(c_binary_size, 0); if (pc->plan_id.size() > c_binary_size - 1) { err(DTR("unable to send plan %s"), pc->plan_id.c_str()); return; } // Make packet. pmsg[0] = (char)c_code_plan; std::memcpy(&pmsg[1], &pc->plan_id[0], std::min(c_binary_size - 1, (int)pc->plan_id.size())); std::string hex = String::toHex(pmsg); std::string cmd = String::str("$CCTXD,%u,%u,0,%s\r\n", m_address, itr->second, hex.c_str()); sendCommand(cmd); std::string cyc = String::str("$CCCYC,0,%u,%u,0,0,1\r\n", m_address, itr->second); sendCommand(cyc); } } if (command.empty()) return; sendCommand(command); }
void transmitMessage(const std::string& sys, const InlineMessage<IMC::Message>& imsg) { if (!hasTransducer()) return; MicroModemMap::iterator itr = m_ummap.find(sys); if (itr == m_ummap.end()) return; const IMC::Message* msg = NULL; std::string command; try { msg = imsg.get(); } catch (...) { return; } if (msg->getId() == DUNE_IMC_PLANCONTROL) { const IMC::PlanControl* pc = static_cast<const IMC::PlanControl*>(msg); Memory::replace(m_pc, new IMC::PlanControl(*pc)); if (pc->op == IMC::PlanControl::PC_START) { if (pc->plan_id.size() == 1) command = String::str("$CCMUC,%u,%u,%04x\r\n", c_plan_addr, itr->second, pc->plan_id[0] & 0xff); } } if (command.empty()) return; sendCommand(command); }