private void handleData() throws IOException {
if (iavailable < 1) {
return;
}
for (i = 0; i < iavailable; i++) {
receivedPacket = parser.mavlink_parse_char(readData[i] & 0x00ff);
if (receivedPacket != null) {
saveToLog(receivedPacket);
MAVLinkMessage msg = receivedPacket.unpack();
listner.onReceiveMessage(msg);
}
}
}
@Override
public void run() {
super.run();
try {
openConnection();
if (logEnabled) {
logWriter = FileStream.getTLogFileStream();
logBuffer = ByteBuffer.allocate(Long.SIZE / Byte.SIZE);
logBuffer.order(ByteOrder.BIG_ENDIAN);
}
while (connected) {
readDataBlock();
handleData();
}
closeConnection();
} catch (FileNotFoundException e) {
e.printStackTrace();
} catch (IOException e) {
e.printStackTrace();
}
listner.onDisconnect();
}