#include "MavlinkTap.hpp"
#include <cstring>

MavlinkTap::MavlinkTap(QObject* parent) : QObject(parent) {
    std::memset(&status_, 0, sizeof(status_));
}

void MavlinkTap::feed(const QByteArray& data) {
    QMutexLocker locker(&mtx_);
    mavlink_message_t msg;
    for (unsigned char c : data) {
        if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status_)) {
            emit messageParsed(msg);
        }
    }
}