/**
* Execute a transaction while forwarding a stream.
* \param[in] connection UAVLinkConnection to be used
* \param[in] obj Object
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] type Transaction type
* UAVLINK_TYPE_OBJ: send object,
* UAVLINK_TYPE_OBJ_REQ: request object update
* UAVLINK_TYPE_OBJ_ACK: send object with an ack
* \return 0 Success
* \return -1 Failure
*/
int32_t streamStream(UAVLinkConnection connectionHandle, uint8_t Id, uint8_t length, uint8_t *buf)
{
UAVLinkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
// Send stream and wait for ack
// Get transaction lock (will block if a transaction is pending)
//xSemaphoreTakeRecursive(connection->transLock, portMAX_DELAY);
// Send object
//xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
//connection->respId = Id;
sendStreamPacket(connection, Id, length, buf);
//xSemaphoreGiveRecursive(connection->lock);
// Wait for response (or timeout)
//respReceived = xSemaphoreTake(connection->respSema, timeoutMs/portTICK_RATE_MS);
// Check if a response was received
//if (respReceived == pdFALSE)
//{
// Cancel transaction
//xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
//xSemaphoreTake(connection->respSema, 0); // non blocking call to make sure the value is reset to zero (binary sema)
//connection->respId = 0;
//xSemaphoreGiveRecursive(connection->lock);
//xSemaphoreGiveRecursive(connection->transLock);
//return -1;
//}
//else
//{
// xSemaphoreGiveRecursive(connection->transLock);
return 0;
//}
}
/**
* Execute a transaction while forwarding a stream.
* \param[in] connection UAVLinkConnection to be used
* \param[in] objId of object
* * \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] type Transaction type
* UAVLINK_TYPE_OBJ: send object,
* UAVLINK_TYPE_OBJ_REQ: request object update
* UAVLINK_TYPE_OBJ_ACK: send object with an ack
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVLinkSendStream(UAVLinkConnection connectionHandle, uint8_t Id, uint8_t *buf, uint8_t length)
{
UAVLinkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
// Send stream and wait for ack
connection->resp = 0;
connection->respId = Id;
sendStreamPacket(connection, Id, length, buf);
return 0;
}
void ChannelServer::addStreamSubscription(StreamIdx idx) {
auto &count = streamingSubscriberCounts_[idx];
++count;
// If this is the first subscriber, register the streaming callback, which
// will also cause hardware polling to start.
if (count == 1) {
auto self = shared_from_this();
hw_->setStreamPacketCallback(
idx, [this, self, idx](const StreamPacket &packet) {
sendStreamPacket(idx, packet);
});
}
}
