void* send_frame(void* args) {
int i = (int)args;
int wait;
struct timeval now;
struct timespec limit;
pthread_mutex_lock(&network);
gettimeofday(&now, NULL);
limit.tv_nsec = now.tv_usec*1000 + TIMEOUT_MS*1000000;
limit.tv_sec = now.tv_sec + limit.tv_nsec/1000000000;
limit.tv_nsec %= 1000000000;
sendto(data.sock, buf_send[i], len_send[i], 0, (struct sockaddr*)&data.sock_addr, data.sock_len);
report_frame("tx", buf_send[i], "sent");
wait = pthread_cond_timedwait(&received, &network, &limit);
pthread_mutex_unlock(&network);
if (wait != 0) {
report_frame("tx", buf_send[i], "timeout");
} else {
pthread_mutex_lock(&time_lock);
timeout = false;
pthread_mutex_unlock(&time_lock);
if (i < WINDOW_SIZE) { // + ser o que foi acordado pelo RR
// signal pro resto
}
}
return NULL;
}
void* recv_loop(void* args) {
uint8_t control, info[MAX_BUFFER/2];
bool disc = false;
while (!disc) {
recv_frame(&control, info);
if (len_recv >= 0) {
report_frame("rx", buf_recv, "OK");
pthread_cond_signal(&received);
}
pthread_mutex_lock(&disc_lock);
disc = disconnect;
pthread_mutex_unlock(&disc_lock);
}
return NULL;
}
// Print the current configuration.
// Called by the setup menu 'show' command.
int8_t Copter::setup_show(uint8_t argc, const Menu::arg *argv)
{
AP_Param *param;
ap_var_type type;
//If a parameter name is given as an argument to show, print only that parameter
if(argc>=2)
{
param=AP_Param::find(argv[1].str, &type);
if(!param)
{
cliSerial->printf("Parameter not found: '%s'\n", argv[1].str);
return 0;
}
AP_Param::show(param, argv[1].str, type, cliSerial);
return 0;
}
// clear the area
print_blanks(8);
report_version();
report_radio();
report_frame();
report_batt_monitor();
report_flight_modes();
report_ins();
report_compass();
report_optflow();
AP_Param::show_all(cliSerial);
return(0);
}
