#include <Client.hpp>

Public Member Functions
	Client ()
	Client Constructor. More...

std::shared_ptr< SubscriptionBase >	getSubscription (const msp::ID &id)
	Get pointer to subscription. More...

FirmwareVariant	getVariant () const
	Query the cached device path. More...

int	getVersion () const
	Query the cached device path. More...

bool	hasSubscription (const msp::ID &id) const
	Check if message ID already has a subscription. More...

bool	isConnected () const
	Query the system to see if a connection is active. More...

void	processOneMessage (const asio::error_code &ec, const std::size_t &bytes_transferred)
	Main entry point for processing received data. It is called directly by the ASIO library, and as such it much match the function signatures expected by ASIO. More...

bool	sendData (const msp::ID id, const ByteVector &data=ByteVector(0))
	Send an ID and payload to the flight controller. More...

bool	sendData (const msp::ID id, const ByteVectorUptr &&data)
	Send an ID and payload to the flight controller. More...

bool	sendMessage (msp::Message &message, const double &timeout=0)
	Send a message to the connected flight controller. If the message sends data to the flight controller, it will be packed into a buffer and sent. The method will block (optionally for a finite amount of time) until a matching response is received from the flight controller. If the response includes data, it will be unpacked back into the same Message object. More...

bool	sendMessageNoWait (const msp::Message &message)
	Send a message, but do not wait for any response. More...

void	setLoggingLevel (const LoggingLevel &level)
	Set the verbosity of the output. More...

void	setVariant (const FirmwareVariant &v)
	Change the device path on the next connect. More...

bool	setVersion (const int &ver)
	Change the device path on the next connect. More...

bool	start (const std::string &device, const size_t baudrate=115200)
	Start communications with a flight controller. More...

bool	stop ()
	Stop communications with a flight controller. More...

template<typename T , typename C , class = typename std::enable_if< std::is_base_of<msp::Message, T>::value>::type>
std::shared_ptr< SubscriptionBase >	subscribe (void(C::callback)(const T &), C context, const double &tp)
	Register callback function that is called when a message of matching ID is received. More...

template<typename T , class = typename std::enable_if< std::is_base_of<msp::Message, T>::value>::type>
std::shared_ptr< SubscriptionBase >	subscribe (const std::function< void(const T &)> &recv_callback, const double &tp)
	Register callback function that is called when a message of matching ID is received. Replaces the previous callback of the same ID. More...

	~Client ()
	~Client Destructor More...

Protected Member Functions
bool	connectPort (const std::string &device, const size_t baudrate=115200)
	Establish connection to serial device and start read thread. More...

uint8_t	crcV1 (const uint8_t id, const ByteVector &data) const
	crcV1 Computes a checksum for MSPv1 messages More...

uint8_t	crcV2 (uint8_t crc, const ByteVector &data) const
	crcV2 Computes a checksum for MSPv2 messages More...

uint8_t	crcV2 (uint8_t crc, const uint8_t &b) const
	crcV2 Computes a checksum for MSPv2 messages More...

bool	disconnectPort ()
	Break connection to serial device and stop read thread. More...

uint8_t	extractChar ()
	Read a single byte from either the buffer or the serial device. More...

std::pair< iterator, bool >	messageReady (iterator begin, iterator end) const
	messageReady Method used by ASIO library to determine if a full message is present in receiving buffer. It must match the function signature expected by ASIO. More...

ByteVector	packMessageV1 (const msp::ID id, const ByteVector &data=ByteVector(0)) const
	packMessageV1 Packs data ID and data payload into a MSPv1 formatted buffer ready for sending to the serial device More...

ByteVector	packMessageV2 (const msp::ID id, const ByteVector &data=ByteVector(0)) const
	packMessageV2 Packs data ID and data payload into a MSPv2 formatted buffer ready for sending to the serial device More...

ReceivedMessage	processOneMessageV1 ()
	processOneMessageV1 Iterates over characters in the ASIO buffer to identify and unpack a MSPv1 encoded message More...

ReceivedMessage	processOneMessageV2 ()
	processOneMessageV2 Iterates over characters in the ASIO buffer to identify and unpack a MSPv2 encoded message More...

bool	startReadThread ()
	Starts the receiver thread that handles incomming messages. More...

bool	startSubscriptions ()
	Starts the receiver thread that handles incomming messages. More...

bool	stopReadThread ()
	Stops the receiver thread. More...

bool	stopSubscriptions ()
	Stops the receiver thread. More...

Protected Attributes
asio::streambuf	buffer

std::condition_variable	cv_response

std::mutex	cv_response_mtx

FirmwareVariant	fw_variant

asio::io_service	io
	! io service More...

LoggingLevel	log_level_

int	msp_ver_

std::mutex	mutex_buffer

std::mutex	mutex_response

std::mutex	mutex_send

std::mutex	mutex_subscriptions

asio::serial_port	port
	! port for serial device More...

std::unique_ptr< ReceivedMessage >	request_received

std::atomic_flag	running_ = ATOMIC_FLAG_INIT

std::map< msp::ID, std::shared_ptr< SubscriptionBase > >	subscriptions

std::thread	thread

Detailed Description

Definition at line 35 of file Client.hpp.

Constructor & Destructor Documentation

msp::client::Client::Client ( )

Client Constructor.

Parameters

device	String describing the path to the serial device
baudrate	Baudrate of the connection (default 115200, unnecessary for direct USB connection)

Definition at line 10 of file Client.cpp.

msp::client::Client::~Client ( )

~Client Destructor

Definition at line 16 of file Client.cpp.

Member Function Documentation

bool msp::client::Client::connectPort	(	const std::string &	device,
		const size_t	baudrate = `115200`
	)

protected

Establish connection to serial device and start read thread.

Returns: True on success

Definition at line 43 of file Client.cpp.

uint8_t msp::client::Client::crcV1	(	const uint8_t	id,
		const ByteVector &	data
	)		const

protected

crcV1 Computes a checksum for MSPv1 messages

Parameters

id	uint8_t MSP ID
data	Payload which is also part of the checksum

Returns: uint8_t checksum

Definition at line 238 of file Client.cpp.

uint8_t msp::client::Client::crcV2	(	uint8_t	crc,
		const ByteVector &	data
	)		const

protected

crcV2 Computes a checksum for MSPv2 messages

Parameters

crc	Checksum value from which to start calculations
data	ByteVector of data to be wrapped into the checksum

Returns: uint8_t checksum

Definition at line 266 of file Client.cpp.

uint8_t msp::client::Client::crcV2	(	uint8_t	crc,
		const uint8_t &	b
	)		const

protected

crcV2 Computes a checksum for MSPv2 messages

Parameters

crc	Checksum value from which to start calculations
data	Single byte to use in the checksum calculation

Returns: uint8_t checksum

Definition at line 273 of file Client.cpp.

bool msp::client::Client::disconnectPort ( )

protected

Break connection to serial device and stop read thread.

Returns: True on success

Definition at line 64 of file Client.cpp.

uint8_t msp::client::Client::extractChar ( )

protected

Read a single byte from either the buffer or the serial device.

Returns: byte from buffer or device

Definition at line 185 of file Client.cpp.

std::shared_ptr<SubscriptionBase> msp::client::Client::getSubscription ( const msp::ID & id )

inline

Get pointer to subscription.

Parameters

id	Message ID

Returns: Shared pointer to subscription (empty if there was no match)

Definition at line 191 of file Client.hpp.

FirmwareVariant msp::client::Client::getVariant ( ) const

Query the cached device path.

Returns: Cached path to device

Definition at line 32 of file Client.cpp.

int msp::client::Client::getVersion ( ) const

Query the cached device path.

Returns: Cached path to device

Definition at line 28 of file Client.cpp.

bool msp::client::Client::hasSubscription ( const msp::ID & id ) const

inline

Check if message ID already has a subscription.

Parameters

id	Message ID

Returns: True if there is already a matching subscription

Definition at line 182 of file Client.hpp.

bool msp::client::Client::isConnected ( ) const

Query the system to see if a connection is active.

Returns: true on success

Definition at line 71 of file Client.cpp.

std::pair< iterator, bool > msp::client::Client::messageReady	(	iterator	begin,
		iterator	end
	)		const

protected

messageReady Method used by ASIO library to determine if a full message is present in receiving buffer. It must match the function signature expected by ASIO.

Returns: std::pair<iterator, bool> indicating where the start the next message check operation and whether the current check was successful

Definition at line 355 of file Client.cpp.

ByteVector msp::client::Client::packMessageV1	(	const msp::ID	id,
		const ByteVector &	data = `ByteVector(0)`
	)		const

protected

packMessageV1 Packs data ID and data payload into a MSPv1 formatted buffer ready for sending to the serial device

Parameters

id	msp::ID of the message being packed
data	Optional binary payload to be packed into the outbound buffer

Returns: ByteVector of full MSPv1 message ready for sending

Definition at line 225 of file Client.cpp.

ByteVector msp::client::Client::packMessageV2	(	const msp::ID	id,
		const ByteVector &	data = `ByteVector(0)`
	)		const

protected

packMessageV2 Packs data ID and data payload into a MSPv2 formatted buffer ready for sending to the serial device

Parameters

id	msp::ID of the message being packed
data	Optional binary payload to be packed into the outbound buffer

Returns: ByteVector of full MSPv2 message ready for sending

Definition at line 246 of file Client.cpp.

void msp::client::Client::processOneMessage	(	const asio::error_code &	ec,
		const std::size_t &	bytes_transferred
	)

Main entry point for processing received data. It is called directly by the ASIO library, and as such it much match the function signatures expected by ASIO.

Parameters

ec	ASIO error code
bytes_transferred	Number of byte available for processing

Definition at line 286 of file Client.cpp.

ReceivedMessage msp::client::Client::processOneMessageV1 ( )

protected

processOneMessageV1 Iterates over characters in the ASIO buffer to identify and unpack a MSPv1 encoded message

Returns: ReceivedMessage data structure containing the results of unpacking

Definition at line 396 of file Client.cpp.

ReceivedMessage msp::client::Client::processOneMessageV2 ( )

protected

processOneMessageV2 Iterates over characters in the ASIO buffer to identify and unpack a MSPv2 encoded message

Returns: ReceivedMessage data structure containing the results of unpacking

Definition at line 443 of file Client.cpp.

bool msp::client::Client::sendData	(	const msp::ID	id,
		const ByteVector &	data = `ByteVector(0)`
	)

Send an ID and payload to the flight controller.

Parameters

id	Message ID
data	Raw data (default zero length, meaning no data to send outbound)

Returns: true on success

Definition at line 195 of file Client.cpp.

bool msp::client::Client::sendData	(	const msp::ID	id,
		const ByteVectorUptr &&	data
	)

inline

Send an ID and payload to the flight controller.

Parameters

id	Message ID
data	Unique pointer to data. May be empty if there is no data to send

Returns: true on success

Definition at line 221 of file Client.hpp.

bool msp::client::Client::sendMessage	(	msp::Message &	message,
		const double &	timeout = `0`
	)

Send a message to the connected flight controller. If the message sends data to the flight controller, it will be packed into a buffer and sent. The method will block (optionally for a finite amount of time) until a matching response is received from the flight controller. If the response includes data, it will be unpacked back into the same Message object.

Parameters

message	Reference to a Message-derived object to be sent/recieved.
timeout	Maximum amount of time to block waiting for a response. A value of 0 (default) means wait forever.

Definition at line 123 of file Client.cpp.

bool msp::client::Client::sendMessageNoWait ( const msp::Message & message )

Send a message, but do not wait for any response.

Parameters

message Reference to a Message-derived object to be sent

Definition at line 173 of file Client.cpp.

void msp::client::Client::setLoggingLevel ( const LoggingLevel & level )

Set the verbosity of the output.

Parameters

level LoggingLevel matching the desired amount of output (default to WARNING)

Definition at line 18 of file Client.cpp.

void msp::client::Client::setVariant ( const FirmwareVariant & v )

Change the device path on the next connect.

Parameters

device Path to device

Definition at line 30 of file Client.cpp.

bool msp::client::Client::setVersion ( const int & ver )

Change the device path on the next connect.

Parameters

ver	Version of MSP to use

Returns: True if successful

Definition at line 20 of file Client.cpp.

bool msp::client::Client::start	(	const std::string &	device,
		const size_t	baudrate = `115200`
	)

Start communications with a flight controller.

Returns: True on success

Definition at line 34 of file Client.cpp.

bool msp::client::Client::startReadThread ( )

protected

Starts the receiver thread that handles incomming messages.

Returns: True on success

Definition at line 73 of file Client.cpp.

bool msp::client::Client::startSubscriptions ( )

protected

Starts the receiver thread that handles incomming messages.

Returns: True on success

Definition at line 107 of file Client.cpp.

bool msp::client::Client::stop ( )

Stop communications with a flight controller.

Returns: True on success

Definition at line 39 of file Client.cpp.

bool msp::client::Client::stopReadThread ( )

protected

Stops the receiver thread.

Returns: True on success

Definition at line 95 of file Client.cpp.

bool msp::client::Client::stopSubscriptions ( )

protected

Stops the receiver thread.

Returns: True on success

Definition at line 115 of file Client.cpp.

template<typename T , typename C , class = typename std::enable_if< std::is_base_of<msp::Message, T>::value>::type>

std::shared_ptr<SubscriptionBase> msp::client::Client::subscribe	(	void(C::*)(const T &)	callback,
		C *	context,
		const double &	tp
	)

inline

Register callback function that is called when a message of matching ID is received.

Parameters

callback	Pointer to callback function (class method)
context	Object containing callback method
tp	Period of timer that will send subscribed requests (in seconds).

Returns: pointer to subscription that is added to internal list

Definition at line 131 of file Client.hpp.

template<typename T , class = typename std::enable_if< std::is_base_of<msp::Message, T>::value>::type>

std::shared_ptr<SubscriptionBase> msp::client::Client::subscribe	(	const std::function< void(const T &)> &	recv_callback,
		const double &	tp
	)

inline

Register callback function that is called when a message of matching ID is received. Replaces the previous callback of the same ID.

Parameters

recv_callback	Function to be called upon receipt of message
tp	Period of timer that will send subscribed requests (in seconds).

Returns: pointer to subscription that is added to internal list

Definition at line 148 of file Client.hpp.

Member Data Documentation

asio::streambuf msp::client::Client::buffer

protected

Definition at line 341 of file Client.hpp.

std::condition_variable msp::client::Client::cv_response

protected

Definition at line 348 of file Client.hpp.

std::mutex msp::client::Client::cv_response_mtx

protected

Definition at line 349 of file Client.hpp.

FirmwareVariant msp::client::Client::fw_variant

protected

Definition at line 366 of file Client.hpp.

asio::io_service msp::client::Client::io

protected

! io service

Definition at line 339 of file Client.hpp.

LoggingLevel msp::client::Client::log_level_

protected

Definition at line 362 of file Client.hpp.

int msp::client::Client::msp_ver_

protected

Definition at line 365 of file Client.hpp.

std::mutex msp::client::Client::mutex_buffer

protected

Definition at line 351 of file Client.hpp.

std::mutex msp::client::Client::mutex_response

protected

Definition at line 350 of file Client.hpp.

std::mutex msp::client::Client::mutex_send

protected

Definition at line 352 of file Client.hpp.

std::mutex msp::client::Client::mutex_subscriptions

protected

Definition at line 358 of file Client.hpp.

asio::serial_port msp::client::Client::port

protected

! port for serial device

Definition at line 340 of file Client.hpp.

std::unique_ptr<ReceivedMessage> msp::client::Client::request_received

protected

Definition at line 355 of file Client.hpp.

std::atomic_flag msp::client::Client::running_ = ATOMIC_FLAG_INIT

protected

Definition at line 345 of file Client.hpp.

std::map<msp::ID, std::shared_ptr<SubscriptionBase> > msp::client::Client::subscriptions

protected

Definition at line 359 of file Client.hpp.

std::thread msp::client::Client::thread

protected

Definition at line 344 of file Client.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation