/* $Id$
*
* This file is a part of jPapaBench providing a Java implementation
* of PapaBench project.
* Copyright (C) 2010 Michal Malohlava <michal.malohlava_at_d3s.mff.cuni.cz>
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
*/
package papabench.core.fbw.tasks.handlers;
import papabench.core.commons.data.InterMCUMsg;
import papabench.core.fbw.modules.FBWModule;
/**
* Taks handler providing sending data to autopilot unit.
*
* T = 25ms
*
* @author Michal Malohlava
*
*/
//@SCJAllowed
public class SendDataToAutopilotTaskHandler implements Runnable {
private FBWModule fbwModule;
public SendDataToAutopilotTaskHandler(FBWModule fbwModule) {
this.fbwModule = fbwModule;
}
public void run() {
// send only valid
if (fbwModule.getPPMDevice().isValid()) {
InterMCUMsg msg = new InterMCUMsg();
msg.radioCommands = fbwModule.getPPMDevice().getLastRadioCommands().clone();
msg.setRadioOK(fbwModule.isRadioOK());
msg.setRadioReallyLost(fbwModule.isRadioReallyLost());
msg.setAveragedChannelsSent(msg.radioCommands.containsAveragedChannels());
msg.voltSupply = 0;
msg.ppmCpt = 0; // FIXME <---this value should be computed
fbwModule.getLinkToAutopilot().sendMessageToAutopilot(msg);
}
}
}