Work to recieve heartbeat from ODID Scanner

libraries/AP_ODIDScanner/AP_ODIDScanner.cpp

@@ -1,17 +1,36 @@
 #include "AP_ODIDScanner.h"
 
-AP_ODIDScanner::AP_ODIDScanner() {
+// TODO: Random default for mav_port needs fix
+AP_ODIDScanner::AP_ODIDScanner() : _mav_port(7){
 
 }
 void AP_ODIDScanner::init() {
-
     _chan = mavlink_channel_t(gcs().get_channel_from_port_number(_mav_port));
     _initialised = true;
+    _port = AP::serialmanager().get_serial_by_id(_mav_port);
+}
+
+void AP_ODIDScanner::update_recv() {
+    mavlink_message_t msg;
+    mavlink_status_t status;
+    uint32_t tstart_us = AP_HAL::micros();
+    uint32_t now_ms = AP_HAL::millis();
+
+    status.packet_rx_drop_count = 0;
+
+    const uint16_t nbytes = _port->available();
+    for (uint16_t i=0; i<nbytes; i++)
+    {
+        const uint8_t c = (uint8_t)_port->read();
+        if (mavlink_frame_char_buffer(channel_buffer(), channel_status(), c, &msg, &status) == MAVLINK_FRAMING_OK) {
+            // TODO: How do I process this?
+        }
+    }
 }
 void AP_ODIDScanner::update() {
     const uint32_t now_ms = AP_HAL::millis();
-    if (now_ms - last_send_ms > 5000) {
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "The driver is here.");
-        last_send_ms =now_ms;
+    if (now_ms - last_dev_hb_ms > 5000 && now_ms - last_dev_hb_msg_ms > 5000) {
+        last_dev_hb_msg_ms = now_ms;
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Scanner: Device Not Found");
     }
 }

libraries/AP_ODIDScanner/AP_ODIDScanner.h

@@ -23,8 +23,17 @@ class AP_ODIDScanner
     mavlink_channel_t _chan; // mavlink channel that communicates with the remote id transceiver
     AP_Int8  _mav_port;
     mavlink_uav_found_t found_msg;
+    AP_HaL::UARTDriver* _port;
     bool _initialised;
     uint32_t last_send_ms;
+    uint32_t last_dev_hb_ms;
+    uint32_t last_dev_hb_msg_ms;
+
+    mavlink_message_t _channel_buffer;
+    mavlink_status_t _channel_status;
+
+    mavlink_message_t *channel_buffer() { return &_channel_buffer; }
+    mavlink_status_t *channel_status() { return &_channel_status; }
 };
 
 #endif