#include <Crazyflie.h>

Classes
struct	batchRequest
struct	logInfo
struct	LogTocEntry
struct	paramInfo
struct	ParamTocEntry
union	ParamValue
Public Types
enum	BootloaderTarget { TargetSTM32 = 0xFF, TargetNRF51 = 0xFE }
enum	LogType { LogTypeUint8 = 1, LogTypeUint16 = 2, LogTypeUint32 = 3, LogTypeInt8 = 4, LogTypeInt16 = 5, LogTypeInt32 = 6, LogTypeFloat = 7, LogTypeFP16 = 8 }
enum	ParamType { ParamTypeUint8 = 0x00 \| (0x00<<2) \| (0x01<<3), ParamTypeInt8 = 0x00 \| (0x00<<2) \| (0x00<<3), ParamTypeUint16 = 0x01 \| (0x00<<2) \| (0x01<<3), ParamTypeInt16 = 0x01 \| (0x00<<2) \| (0x00<<3), ParamTypeUint32 = 0x02 \| (0x00<<2) \| (0x01<<3), ParamTypeInt32 = 0x02 \| (0x00<<2) \| (0x00<<3), ParamTypeFloat = 0x02 \| (0x01<<2) \| (0x00<<3) }
Public Member Functions
void	alloff ()
	Crazyflie (const std::string &link_uri)
template<class T >
T	getParam (uint8_t id) const
const ParamTocEntry *	getParamTocEntry (const std::string &group, const std::string &name) const
void	logReset ()
std::vector< LogTocEntry > ::const_iterator	logVariablesBegin () const
std::vector< LogTocEntry > ::const_iterator	logVariablesEnd () const
std::vector< ParamTocEntry > ::const_iterator	paramsBegin () const
std::vector< ParamTocEntry > ::const_iterator	paramsEnd () const
void	queueOutgoingPacket (const crtpPacket_t &packet)
void	readFlash (BootloaderTarget target, size_t size, std::vector< uint8_t > &data)
void	reboot ()
uint64_t	rebootToBootloader ()
void	requestLogToc ()
void	requestParamToc ()
std::vector< Crazyradio::Ack >	retrieveGenericPackets ()
void	sendExternalPositionUpdate (float x, float y, float z)
void	sendPing ()
void	sendSetpoint (float roll, float pitch, float yawrate, uint16_t thrust)
void	setConsoleCallback (std::function< void(const char *)> cb)
void	setEmptyAckCallback (std::function< void(const crtpPlatformRSSIAck *)> cb)
void	setLinkQualityCallback (std::function< void(float)> cb)
template<class T >
void	setParam (uint8_t id, const T &value)
void	sysoff ()
void	syson ()
void	transmitPackets ()
void	trySysOff ()
float	vbat ()
void	writeFlash (BootloaderTarget target, const std::vector< uint8_t > &data)
Static Public Member Functions
static size_t	size (LogType t)
Private Member Functions
void	addRequest (const uint8_t *data, size_t numBytes, size_t numBytesToMatch)
template<typename R >
void	addRequest (const R &request, size_t numBytesToMatch)
const LogTocEntry *	getLogTocEntry (const std::string &group, const std::string &name) const
const ParamValue &	getParam (uint8_t id) const
template<typename R >
const R *	getRequestResult (size_t index) const
void	handleAck (const Crazyradio::Ack &result)
void	handleBatchAck (const Crazyradio::Ack &result)
void	handleRequests (float baseTime=0.5, float timePerRequest=0.05)
void	queueGenericPacket (const Crazyradio::Ack &result)
uint8_t	registerLogBlock (std::function< void(crtpLogDataResponse *, uint8_t)> cb)
void	sendPacket (const uint8_t *data, uint32_t length, Crazyradio::Ack &result)
bool	sendPacket (const uint8_t *data, uint32_t length)
void	sendPacketOrTimeout (const uint8_t *data, uint32_t length, float timeout=1.0)
void	setParam (uint8_t id, const ParamValue &value)
void	startBatchRequest ()
bool	unregisterLogBlock (uint8_t id)
Private Attributes
uint64_t	m_address
std::vector< batchRequest >	m_batchRequests
uint8_t	m_channel
std::function< void(const char *)	m_consoleCallback )
Crazyradio::Datarate	m_datarate
int	m_devId
std::function< void(const crtpPlatformRSSIAck *)	m_emptyAckCallback )
std::vector< Crazyradio::Ack >	m_generic_packets
std::function< void(float)>	m_linkQualityCallback
std::map< uint8_t, std::function< void(crtpLogDataResponse *, uint8_t)>	m_logBlockCb )
std::vector< LogTocEntry >	m_logTocEntries
size_t	m_numRequestsFinished
std::vector< crtpPacket_t >	m_outgoing_packets
std::vector< ParamTocEntry >	m_paramTocEntries
std::map< uint8_t, ParamValue >	m_paramValues
Crazyradio *	m_radio
ITransport *	m_transport
Friends
class	LogBlock
class	LogBlockGeneric

Detailed Description

Definition at line 14 of file Crazyflie.h.

Member Enumeration Documentation

enum Crazyflie::BootloaderTarget

Enumerator:

TargetSTM32
TargetNRF51

Definition at line 68 of file Crazyflie.h.

enum Crazyflie::LogType

Enumerator:

LogTypeUint8
LogTypeUint16
LogTypeUint32
LogTypeInt8
LogTypeInt16
LogTypeInt32
LogTypeFloat
LogTypeFP16

Definition at line 50 of file Crazyflie.h.

enum Crazyflie::ParamType

Enumerator:

ParamTypeUint8
ParamTypeInt8
ParamTypeUint16
ParamTypeInt16
ParamTypeUint32
ParamTypeInt32
ParamTypeFloat

Definition at line 17 of file Crazyflie.h.

Constructor & Destructor Documentation

Crazyflie::Crazyflie ( const std::string & link_uri )

Definition at line 27 of file Crazyflie.cpp.

Member Function Documentation

void Crazyflie::addRequest	(	const uint8_t *	data,
		size_t	numBytes,
		size_t	numBytesToMatch
	)		`[private]`

Definition at line 750 of file Crazyflie.cpp.

template<typename R >

void Crazyflie::addRequest	(	const R &	request,
		size_t	numBytesToMatch
	)		`[inline, private]`

Definition at line 236 of file Crazyflie.h.

void Crazyflie::alloff ( )

Definition at line 211 of file Crazyflie.cpp.

const Crazyflie::LogTocEntry * Crazyflie::getLogTocEntry	(	const std::string &	group,
		const std::string &	name
	)		const `[private]`

Definition at line 702 of file Crazyflie.cpp.

template<class T >

T Crazyflie::getParam ( uint8_t id ) const [inline]

Definition at line 134 of file Crazyflie.h.

const ParamValue& Crazyflie::getParam ( uint8_t id ) const [inline, private]

Definition at line 306 of file Crazyflie.h.

const Crazyflie::ParamTocEntry * Crazyflie::getParamTocEntry	(	const std::string &	group,
		const std::string &	name
	)		const

Definition at line 714 of file Crazyflie.cpp.

template<typename R >

const R* Crazyflie::getRequestResult ( size_t index ) const [inline, private]

Definition at line 252 of file Crazyflie.h.

void Crazyflie::handleAck ( const Crazyradio::Ack & result ) [private]

Definition at line 646 of file Crazyflie.cpp.

void Crazyflie::handleBatchAck ( const Crazyradio::Ack & result ) [private]

Definition at line 813 of file Crazyflie.cpp.

void Crazyflie::handleRequests	(	float	baseTime = `0.5`,
		float	timePerRequest = `0.05`
	)		`[private]`

Definition at line 762 of file Crazyflie.cpp.

void Crazyflie::logReset ( )

Definition at line 110 of file Crazyflie.cpp.

std::vector<LogTocEntry>::const_iterator Crazyflie::logVariablesBegin ( ) const [inline]

Definition at line 119 of file Crazyflie.h.

std::vector<LogTocEntry>::const_iterator Crazyflie::logVariablesEnd ( ) const [inline]

Definition at line 122 of file Crazyflie.h.

std::vector<ParamTocEntry>::const_iterator Crazyflie::paramsBegin ( ) const [inline]

Definition at line 112 of file Crazyflie.h.

std::vector<ParamTocEntry>::const_iterator Crazyflie::paramsEnd ( ) const [inline]

Definition at line 115 of file Crazyflie.h.

void Crazyflie::queueGenericPacket ( const Crazyradio::Ack & result ) [inline, private]

En-queues an unhandled Ack into a vector so that it can be retrieved later.

Parameters:

result The unhandled Ack to be en-queued.

Definition at line 224 of file Crazyflie.h.

void Crazyflie::queueOutgoingPacket ( const crtpPacket_t & packet ) [inline]

En-queues a generic crtpPacket into a vector so that it can be transmitted later.

Parameters:

packet the crtpPacket to be en-queued.

Definition at line 193 of file Crazyflie.h.

void Crazyflie::readFlash	(	BootloaderTarget	target,
		size_t	size,
		std::vector< uint8_t > &	data
	)

Definition at line 382 of file Crazyflie.cpp.

void Crazyflie::reboot ( )

Definition at line 160 of file Crazyflie.cpp.

uint64_t Crazyflie::rebootToBootloader ( )

Definition at line 169 of file Crazyflie.cpp.

uint8_t Crazyflie::registerLogBlock ( std::function< void(crtpLogDataResponse *, uint8_t)> cb ) [private]

Definition at line 726 of file Crazyflie.cpp.

void Crazyflie::requestLogToc ( )

Definition at line 445 of file Crazyflie.cpp.

void Crazyflie::requestParamToc ( )

Definition at line 475 of file Crazyflie.cpp.

std::vector<Crazyradio::Ack> Crazyflie::retrieveGenericPackets ( ) [inline]

Returns a copy of the en-queued CRTP packets which were not handled by handleAck.

Returns:: A vector of Ack data structures, where each Ack contains the data from a single packet.

Definition at line 183 of file Crazyflie.h.

void Crazyflie::sendExternalPositionUpdate	(	float	x,
		float	y,
		float	z
	)

Definition at line 128 of file Crazyflie.cpp.

void Crazyflie::sendPacket	(	const uint8_t *	data,
		uint32_t	length,
		Crazyradio::Ack &	result
	)		`[private]`

Definition at line 603 of file Crazyflie.cpp.

bool Crazyflie::sendPacket	(	const uint8_t *	data,
		uint32_t	length
	)		`[private]`

Definition at line 579 of file Crazyflie.cpp.

void Crazyflie::sendPacketOrTimeout	(	const uint8_t *	data,
		uint32_t	length,
		float	timeout = `1.0`
	)		`[private]`

Definition at line 588 of file Crazyflie.cpp.

void Crazyflie::sendPing ( )

Definition at line 137 of file Crazyflie.cpp.

void Crazyflie::sendSetpoint	(	float	roll,
		float	pitch,
		float	yawrate,
		uint16_t	thrust
	)

Definition at line 118 of file Crazyflie.cpp.

void Crazyflie::setConsoleCallback ( std::function< void(const char *)> cb ) [inline]

Definition at line 153 of file Crazyflie.h.

void Crazyflie::setEmptyAckCallback ( std::function< void(const crtpPlatformRSSIAck *)> cb ) [inline]

Definition at line 143 of file Crazyflie.h.

void Crazyflie::setLinkQualityCallback ( std::function< void(float)> cb ) [inline]

Definition at line 148 of file Crazyflie.h.

template<class T >

void Crazyflie::setParam	(	uint8_t	id,
		const T &	value
	)		`[inline]`

Definition at line 127 of file Crazyflie.h.

void Crazyflie::setParam	(	uint8_t	id,
		const ParamValue &	value
	)		`[private]`

Definition at line 515 of file Crazyflie.cpp.

static size_t Crazyflie::size ( LogType t ) [inline, static]

Definition at line 158 of file Crazyflie.h.

void Crazyflie::startBatchRequest ( ) [private]

Definition at line 745 of file Crazyflie.cpp.

void Crazyflie::sysoff ( )

Definition at line 195 of file Crazyflie.cpp.

void Crazyflie::syson ( )

Definition at line 217 of file Crazyflie.cpp.

void Crazyflie::transmitPackets ( )

Transmits any outgoing packets to the crazyflie.

Definition at line 146 of file Crazyflie.cpp.

void Crazyflie::trySysOff ( )

Definition at line 201 of file Crazyflie.cpp.

bool Crazyflie::unregisterLogBlock ( uint8_t id ) [private]

Definition at line 737 of file Crazyflie.cpp.

float Crazyflie::vbat ( )

Definition at line 223 of file Crazyflie.cpp.

void Crazyflie::writeFlash	(	BootloaderTarget	target,
		const std::vector< uint8_t > &	data
	)

Definition at line 240 of file Crazyflie.cpp.

Friends And Related Function Documentation

friend class LogBlock [friend]

Definition at line 330 of file Crazyflie.h.

friend class LogBlockGeneric [friend]

Definition at line 331 of file Crazyflie.h.

Member Data Documentation

uint64_t Crazyflie::m_address [private]

Definition at line 316 of file Crazyflie.h.

std::vector<batchRequest> Crazyflie::m_batchRequests [private]

Definition at line 341 of file Crazyflie.h.

uint8_t Crazyflie::m_channel [private]

Definition at line 315 of file Crazyflie.h.

std::function<void(const char*) Crazyflie::m_consoleCallback) [private]

Definition at line 327 of file Crazyflie.h.

Crazyradio::Datarate Crazyflie::m_datarate [private]

Definition at line 317 of file Crazyflie.h.

int Crazyflie::m_devId [private]

Definition at line 313 of file Crazyflie.h.

std::function<void(const crtpPlatformRSSIAck*) Crazyflie::m_emptyAckCallback) [private]

Definition at line 325 of file Crazyflie.h.

std::vector<Crazyradio::Ack> Crazyflie::m_generic_packets [private]

Definition at line 217 of file Crazyflie.h.

std::function<void(float)> Crazyflie::m_linkQualityCallback [private]

Definition at line 326 of file Crazyflie.h.

std::map<uint8_t, std::function<void(crtpLogDataResponse*, uint8_t)> Crazyflie::m_logBlockCb) [private]

Definition at line 320 of file Crazyflie.h.

std::vector<LogTocEntry> Crazyflie::m_logTocEntries [private]

Definition at line 319 of file Crazyflie.h.

size_t Crazyflie::m_numRequestsFinished [private]

Definition at line 342 of file Crazyflie.h.

std::vector<crtpPacket_t> Crazyflie::m_outgoing_packets [private]

Definition at line 218 of file Crazyflie.h.

std::vector<ParamTocEntry> Crazyflie::m_paramTocEntries [private]

Definition at line 322 of file Crazyflie.h.

std::map<uint8_t, ParamValue> Crazyflie::m_paramValues [private]

Definition at line 323 of file Crazyflie.h.

Crazyradio* Crazyflie::m_radio [private]

Definition at line 311 of file Crazyflie.h.

ITransport* Crazyflie::m_transport [private]

Definition at line 312 of file Crazyflie.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation