/**
* Receive an object. This function process objects received through the telemetry stream.
* \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK, TYPE_NACK)
* \param[in] obj Handle of the received object
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] data Data buffer
* \param[in] length Buffer length
* \return Success (true), Failure (false)
*/
bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length)
{
Q_UNUSED(length);
UAVObject* obj = NULL;
bool error = false;
bool allInstances = (instId == ALL_INSTANCES);
// Process message type
switch (type) {
case TYPE_OBJ:
// All instances, not allowed for OBJ messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Check if an ack is pending
if ( obj != NULL )
{
updateAck(obj);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_ACK:
// All instances, not allowed for OBJ_ACK messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Transmit ACK
if ( obj != NULL )
{
transmitObject(obj, TYPE_ACK, false);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_REQ:
// Get object, if all instances are requested get instance 0 of the object
if (allInstances)
{
obj = objMngr->getObject(objId);
}
else
{
obj = objMngr->getObject(objId, instId);
}
// If object was found transmit it
if (obj != NULL)
{
transmitObject(obj, TYPE_OBJ, allInstances);
}
else
{
// Object was not found, transmit a NACK with the
// objId which was not found.
transmitNack(objId);
error = true;
}
break;
case TYPE_NACK:
// All instances, not allowed for NACK messages
if (!allInstances)
{
// Get object
obj = objMngr->getObject(objId, instId);
// Check if object exists:
if (obj != NULL)
{
updateNack(obj);
}
else
{
error = true;
}
}
break;
case TYPE_ACK:
// All instances, not allowed for ACK messages
if (!allInstances)
{
// Get object
obj = objMngr->getObject(objId, instId);
// Check if an ack is pending
if (obj != NULL)
{
updateAck(obj);
}
else
{
error = true;
}
}
break;
default:
error = true;
}
// Done
return !error;
}
/**
* Receive an object. This function process objects received through the telemetry stream.
* \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK, TYPE_NACK)
* \param[in] obj Handle of the received object
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] data Data buffer
* \param[in] length Buffer length
* \return Success (true), Failure (false)
*/
bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length)
{
Q_UNUSED(length);
UAVObject* obj = NULL;
bool error = false;
bool allInstances = (instId == ALL_INSTANCES);
// Process message type
switch (type) {
case TYPE_OBJ: // We have received an object.
// All instances, not allowed for OBJ messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
if (obj == NULL)
error = true;
}
else
{
error = true;
}
break;
case TYPE_OBJ_ACK: // We have received an object and are asked for an ACK
// All instances, not allowed for OBJ_ACK messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Transmit ACK
if ( obj != NULL )
{
transmitObject(obj, TYPE_ACK, false);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_REQ: // We are being asked for an object
// Get object, if all instances are requested get instance 0 of the object
if (allInstances)
{
obj = objMngr->getObject(objId);
}
else
{
obj = objMngr->getObject(objId, instId);
}
// If object was found transmit it
if (obj != NULL)
{
transmitObject(obj, TYPE_OBJ, allInstances);
}
else
{
// Object was not found, transmit a NACK with the
// objId which was not found.
transmitNack(objId);
error = true;
}
break;
case TYPE_NACK: // We have received a NACK for an object that does not exist on the far end.
// (but should exist on our end)
// All instances, not allowed for NACK messages
if (!allInstances)
{
// Get object
obj = objMngr->getObject(objId, instId);
// Check if object exists:
if (obj != NULL)
{
emit nackReceived(obj);
}
else
{
error = true;
}
}
break;
case TYPE_ACK: // We have received a ACK, supposedly after sending an object with OBJ_ACK
// All instances, not allowed for ACK messages
if (!allInstances)
{
qDebug() << "Got ack for instance: " << instId;
// Get object
obj = objMngr->getObject(objId, instId);
// Check if we actually know this object (tiny chance the ObjID
// could be unknown and got through CRC check...)
if (obj != NULL)
{
emit ackReceived(obj);
}
else
{
error = true;
}
}
break;
default:
error = true;
}
// Done (exit value is "success", hence the "!" below)
return !error;
}
