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Code Issues Releases Activity

Exposed the Send ACK/NACK function in UAVTalk.

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This commit is contained in:
Brian Webb 2012-05-02 20:42:37 -07:00
parent 30d63b5b12
commit 22f48ce8b0
2 changed files with 32 additions and 0 deletions
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2
flight/UAVTalk/inc/uavtalk.h
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@ -53,6 +53,8 @@ int32_t UAVTalkSetOutputStream(UAVTalkConnection connection, UAVTalkOutputStream
UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection);
int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
int32_t UAVTalkSendAck(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId);
int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId);
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);

30
flight/UAVTalk/uavtalk.c
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@ -489,6 +489,36 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
return state;
}
/**
* Send a ACK through the telemetry link.
* \param[in] connectionHandle UAVTalkConnection to be used
* \param[in] objId Object ID to send a NACK for
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVTalkSendAck(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
return sendObject(connection, obj, instId, UAVTALK_TYPE_ACK);
}
/**
* Send a NACK through the telemetry link.
* \param[in] connectionHandle UAVTalkConnection to be used
* \param[in] objId Object ID to send a NACK for
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
return sendNack(connection, objId);
}
/**
* Receive an object. This function process objects received through the telemetry stream.
* \param[in] connection UAVTalkConnection to be used