add temporary set speed remote command

3 files changed, 12 insertions, 6 deletions

diff --git a/main.vala b/main.vala
index d398367..790e0fc 100644
--- a/main.vala
+++ b/main.vala
@@ -45,14 +45,18 @@ int main(string[] args) {
 		cfg = new Config();
 		Log.init();
 
-		//gyroscope     = cfg.get_gyroscope();
-		//accelerometer = cfg.get_accelerometer();
-		//compass       = cfg.get_compass();
-		//barometer     = cfg.get_barometer();
-		//motorCtrl     = cfg.get_motor_controller();
+		gyroscope     = cfg.get_gyroscope();
+		accelerometer = cfg.get_accelerometer();
+		compass       = cfg.get_compass();
+		barometer     = cfg.get_barometer();
+		motorCtrl     = cfg.get_motor_controller();
 		model         = cfg.get_model();
 		receiver      = cfg.get_receiver();
 
+		receiver.set_speed.connect((id, speed) => {
+			motorCtrl.set_single(id, speed);
+		});
+
 		kinematics   = new Kinematics(0, 0); // TODO: Compass
 		flightCtrl   = new FlightControl();
 
diff --git a/receiver.vala b/receiver.vala
index 7ea5c9f..f1c4655 100644
--- a/receiver.vala
+++ b/receiver.vala
@@ -18,4 +18,6 @@ public abstract class Receiver : Object {
 	public abstract void init(KeyFile cfg) throws Error;
 	public abstract int32 get_value(uint8 channel) throws Error;
 	public abstract void set_value(uint8 channel, int32 value) throws Error;
+
+	public abstract signal void set_speed(uint8 id, uint8 speed);
 }
diff --git a/receiver/socket.vala b/receiver/socket.vala
index e9d8eed..79eec85 100644
--- a/receiver/socket.vala
+++ b/receiver/socket.vala
@@ -85,7 +85,7 @@ public class Socket : Receiver {
 		uint16 port = (uint16) cfg.get_uint64("Socket", "port");
 		srv = new RPCServer(port);
 
-		srv.set_speed_all.connect((speed) => {channel_data[0] = speed;});
+		srv.set_speed.connect((id, speed) => {set_speed(id, speed);});
 	}
 
 	public override int32 get_value(uint8 channel) {