Drone::Drone(int txPin, int rxPin) {
_serialIO = SerialIO(txPin, rxPin);
_callback = Callback();
_incomingPacketReader = IncomingPacketReader(&_serialIO);
_vitals = Vitals(&_serialIO, &_incomingPacketReader, &_callback);
_responseHandler = ResponseHandler(&_serialIO, &_incomingPacketReader, &_callback, &_vitals);
_rc = RC(&_serialIO, &_callback, &_incomingPacketReader);
_gpio = GPIO(&_serialIO, &_callback, &_incomingPacketReader);
_i2c = I2C(&_serialIO, &_callback, &_incomingPacketReader);
_pose = Pose(&_serialIO, &_callback, &_incomingPacketReader);
_autopilot = Autopilot(&_serialIO, &_callback, &_incomingPacketReader);
_transmitterSupport = TransmitterSupport(&_serialIO, &_callback, &_incomingPacketReader);
}
HRESULT STDMETHODCALLTYPE CGainer::Wait(
/* [in] */ long Timeout)
{
MSG msg;
for (;;)
{
UINT_PTR timer = ::SetTimer(NULL, 0, Timeout, NULL);
int ret = GetMessage(&msg, m_hWndCD, 0, 0); // m_hWndCD may be null
::KillTimer(m_hWndCD, timer);
if (!ret) break;
if (ret < 0) return Error(IDS_E_BADWINDOW);
switch (msg.message)
{
case WM_TIMER:
return S_OK;
case WM_COM_READRESULT:
case WM_COM_REBOOT:
case WM_COM_RESPONSE:
if (!m_hWndCD)
{
BOOL bHandled;
switch (msg.message)
{
case WM_COM_READRESULT:
ResponseTextHandler(msg.message, msg.wParam, msg.lParam, bHandled);
break;
case WM_COM_REBOOT:
RebootHandler(msg.message, msg.wParam, msg.lParam, bHandled);
break;
default:
ResponseHandler(msg.message, msg.wParam, msg.lParam, bHandled);
break;
}
continue;
}
// fall through
default:
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
return S_OK;
}
// if an embedder of this class calls close() on AsyncClient in it's
// destructor (for more rigorous cleanup) then it's possible that the
// onError handler will still be called as a result of the socket close.
// the callback might then be interacting with a C++ object that has
// already been deleted. for this case (which does occur in the
// desktop::NetworkReply class) we provide a method that disables
// any pending handlers
void disableHandlers()
{
responseHandler_ = ResponseHandler();
errorHandler_ = ErrorHandler();
}
