66 lines
2.9 KiB
C
66 lines
2.9 KiB
C
/*
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downlink.c
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Copyright (C) 2003 Antoine Drouin
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This file is part of paparazzi.
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paparazzi is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2, or (at your option)
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any later version.
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paparazzi is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with paparazzi; see the file COPYING. If not, write to
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the Free Software Foundation, 59 Temple Place - Suite 330,
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Boston, MA 02111-1307, USA.
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*/
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#include <string.h>
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#include "downlink.h"
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#define GDOUBLE_FROM_DIF_TV(a,b) ((gdouble)(a.tv_sec-b.tv_sec) + 1e-6 * (gdouble)(a.tv_usec-b.tv_usec))
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#define READ_GFLOAT_FROM_BUF(dest, buf) dest = *((gfloat*)(buf)); buf += 4;
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#define READ_GUINT32_FROM_BUF(dest, buf) dest = GUINT32_FROM_LE(*((guint32*)(buf))); buf += 4;
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#define READ_GUINT16_FROM_BUF(dest, buf) dest = GUINT16_FROM_LE(*((guint16*)(buf))); buf += 2;
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#define READ_GINT32_FROM_BUF(dest, buf) dest = GINT32_FROM_LE(*((gint32*)(buf))); buf += 4;
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#define READ_GINT16_FROM_BUF(dest, buf) dest = GINT16_FROM_LE(*((gint16*)(buf))); buf += 2;
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#define READ_GUINT8_FROM_BUF(dest, buf) dest = (guint8)(*(buf++));
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struct Transport *downlink_new( struct PprzProtocol *protocol,
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void( *err_callback )( gpointer callback_data, GError *error ),
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void( *msg_callback )( gpointer callback_data, struct TransportMsg *msg ),
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gpointer callback_data )
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{
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struct Transport *transport;
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guint *fixed_payload_len = g_new( guint,
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g_list_length( protocol->msgs_classes ) );
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guint i = 0;
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GList *msgs_classes = protocol->msgs_classes;
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while ( msgs_classes ) {
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fixed_payload_len[ i ] = ( ( struct PprzMsgClass * )msgs_classes->data )->size;
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// printf("fixed_payload_len : %d %d\n", i, fixed_payload_len[ i ]);
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i++;
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msgs_classes = msgs_classes->next;
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}
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transport = transport_new( TRUE, /* fixed_size */
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TRUE, /* two bytes checksum */
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i, /* nb_msg */
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fixed_payload_len, /* size_msg */
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100, /* max_msg_size */
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DL_STX, DL_ETX, /* STX, ETX */
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err_callback, /* err callback */
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msg_callback, /* msg callback */
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callback_data ); /* callback data */
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return transport;
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}
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