Method MicrohardLink

OpenHD/ohd_interface/src/microhard_link.cpp:427–472

}

MicrohardLink::MicrohardLink(OHDProfile profile) : m_profile(profile) {
  wait_for_microhard_module(m_profile.is_air);

  if (m_profile.is_air) {
    m_video_tx = std::make_unique<openhd::UDPForwarder>(
        DEVICE_IP_GND, MICROHARD_UDP_PORT_VIDEO_AIR_TX);
    auto cb_telemetry_rx = [this](const uint8_t* data, std::size_t data_len) {
      auto shared =
          std::make_shared<std::vector<uint8_t>>(data, data + data_len);
      on_receive_telemetry_data(shared);
    };
    m_telemetry_tx_rx = std::make_unique<openhd::UDPReceiver>(
        DEVICE_IP_AIR, MICROHARD_UDP_PORT_TELEMETRY_AIR_TX, cb_telemetry_rx);
  } else {
    auto cb_video_rx = [this](const uint8_t* payload, std::size_t payloadSize) {
      on_receive_video_data(0, payload, payloadSize);
    };
    m_video_rx = std::make_unique<openhd::UDPReceiver>(
        DEVICE_IP_GND, MICROHARD_UDP_PORT_VIDEO_AIR_TX, cb_video_rx);

    auto cb_telemetry_rx = [this](const uint8_t* data, std::size_t data_len) {
      auto shared =
          std::make_shared<std::vector<uint8_t>>(data, data + data_len);
      on_receive_telemetry_data(shared);
    };
    m_telemetry_tx_rx = std::make_unique<openhd::UDPReceiver>(
        DEVICE_IP_GND, MICROHARD_UDP_PORT_TELEMETRY_AIR_TX, cb_telemetry_rx);
  }

  if (m_telemetry_tx_rx) {
    m_telemetry_tx_rx->runInBackground();
  }

  if (m_video_rx) {
    m_video_rx->runInBackground();
  }

  // Start monitoring gateway signal strength
  std::thread monitor_thread(monitor_gateway_signal_strength, get_gateway_ip());
  monitor_thread.detach();  // Run in the background

  // Start the second communication thread
  std::thread second_thread(communicate_with_device_slow, get_gateway_ip(),
                            command2);
  second_thread.detach();  // Run in the background
}

void MicrohardLink::transmit_telemetry_data(OHDLink::TelemetryTxPacket packet) {
  const auto destination_ip = m_profile.is_air ? DEVICE_IP_GND : DEVICE_IP_AIR;