/**
* Send the specified object through the telemetry link.
* \param[in] obj Object to send
* \param[in] acked Selects if an ack is required
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::sendObject(UAVObject* obj, bool acked, bool allInstances)
{
QMutexLocker locker(mutex);
if (acked)
{
return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
}
else
{
return objectTransaction(obj, TYPE_OBJ, allInstances);
}
}
/**
* Send the specified object through the telemetry link with a timestamp.
* \param[in] connection UAVTalkConnection to be used
* \param[in] obj Object to send
* \param[in] instId The instance ID or UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] acked Selects if an ack is required (1:ack required, 0: ack not required)
* \param[in] timeoutMs Time to wait for the ack, when zero it will return immediately
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVTalkSendObjectTimestamped(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle, connection, return -1);
// Send object
if (acked == 1) {
return objectTransaction(connection, UAVTALK_TYPE_OBJ_ACK_TS, obj, instId, timeoutMs);
} else {
return objectTransaction(connection, UAVTALK_TYPE_OBJ_TS, obj, instId, timeoutMs);
}
}
/**
* Send the specified object through the telemetry link.
* \param[in] connection UAVLinkConnection to be used
* \param[in] obj Object to send
* \param[in] instId The instance ID or UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] acked Selects if an ack is required (1:ack required, 0: ack not required)
* \param[in] timeoutMs Time to wait for the ack, when zero it will return immediately
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVLinkSendObject(UAVLinkConnection connectionHandle, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs)
{
UAVLinkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
// Send object
if (acked == 1)
{
return objectTransaction(connection, obj, instId, UAVLINK_TYPE_OBJ_ACK, timeoutMs);
}
else
{
return objectTransaction(connection, obj, instId, UAVLINK_TYPE_OBJ, timeoutMs);
}
}
/**
* Request an update for the specified object, on success the object data would have been
* updated by the GCS.
* \param[in] connection UAVTalkConnection to be used
* \param[in] obj Object to update
* \param[in] instId The instance ID or UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] timeout Time to wait for the response, when zero it will return immediately
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId, int32_t timeout)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle, connection, return -1);
return objectTransaction(connection, UAVTALK_TYPE_OBJ_REQ, obj, instId, timeout);
}
/**
* Request an update for the specified object, on success the object data would have been
* updated by the GCS.
* \param[in] obj Object to update
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::sendObjectRequest(UAVObject* obj, bool allInstances)
{
QMutexLocker locker(mutex);
return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
}
