Classes | Public Types | Public Member Functions | List of all members
rosflight_firmware::CommLinkInterface Class Referenceabstract

#include <comm_link.h>

Inheritance diagram for rosflight_firmware::CommLinkInterface:
Inheritance graph
[legend]

Classes

struct  AuxCommand
 
class  ListenerInterface
 
struct  OffboardControl
 

Public Types

enum  Command {
  Command::COMMAND_READ_PARAMS, Command::COMMAND_WRITE_PARAMS, Command::COMMAND_SET_PARAM_DEFAULTS, Command::COMMAND_ACCEL_CALIBRATION,
  Command::COMMAND_GYRO_CALIBRATION, Command::COMMAND_BARO_CALIBRATION, Command::COMMAND_AIRSPEED_CALIBRATION, Command::COMMAND_RC_CALIBRATION,
  Command::COMMAND_REBOOT, Command::COMMAND_REBOOT_TO_BOOTLOADER, Command::COMMAND_SEND_VERSION
}
 
enum  LogSeverity { LogSeverity::LOG_INFO, LogSeverity::LOG_WARNING, LogSeverity::LOG_ERROR, LogSeverity::LOG_CRITICAL }
 

Public Member Functions

virtual void init (uint32_t baud_rate, uint32_t dev)=0
 
virtual void receive ()=0
 
virtual void send_attitude_quaternion (uint8_t system_id, uint64_t timestamp_us, const turbomath::Quaternion &attitude, const turbomath::Vector &angular_velocity)=0
 
virtual void send_baro (uint8_t system_id, float altitude, float pressure, float temperature)=0
 
virtual void send_battery_status (uint8_t system_id, float voltage, float current)=0
 
virtual void send_command_ack (uint8_t system_id, Command command, bool success)=0
 
virtual void send_diff_pressure (uint8_t system_id, float velocity, float pressure, float temperature)=0
 
virtual void send_error_data (uint8_t system_id, const StateManager::BackupData &error_data)=0
 
virtual void send_gnss (uint8_t system_id, const GNSSData &data)=0
 
virtual void send_gnss_full (uint8_t system_id, const GNSSFull &data)=0
 
virtual void send_heartbeat (uint8_t system_id, bool fixed_wing)=0
 
virtual void send_imu (uint8_t system_id, uint64_t timestamp_us, const turbomath::Vector &accel, const turbomath::Vector &gyro, float temperature)=0
 
virtual void send_log_message (uint8_t system_id, LogSeverity severity, const char *text)=0
 
virtual void send_mag (uint8_t system_id, const turbomath::Vector &mag)=0
 
virtual void send_named_value_float (uint8_t system_id, uint32_t timestamp_ms, const char *const name, float value)=0
 
virtual void send_named_value_int (uint8_t system_id, uint32_t timestamp_ms, const char *const name, int32_t value)=0
 
virtual void send_output_raw (uint8_t system_id, uint32_t timestamp_ms, const float raw_outputs[14])=0
 
virtual void send_param_value_float (uint8_t system_id, uint16_t index, const char *const name, float value, uint16_t param_count)=0
 
virtual void send_param_value_int (uint8_t system_id, uint16_t index, const char *const name, int32_t value, uint16_t param_count)=0
 
virtual void send_rc_raw (uint8_t system_id, uint32_t timestamp_ms, const uint16_t channels[8])=0
 
virtual void send_sonar (uint8_t system_id, uint8_t type, float range, float max_range, float min_range)=0
 
virtual void send_status (uint8_t system_id, bool armed, bool failsafe, bool rc_override, bool offboard, uint8_t error_code, uint8_t control_mode, int16_t num_errors, int16_t loop_time_us)=0
 
virtual void send_timesync (uint8_t system_id, int64_t tc1, int64_t ts1)=0
 
virtual void send_version (uint8_t system_id, const char *const version)=0
 
virtual void set_listener (ListenerInterface *listener)=0
 

Detailed Description

Definition at line 46 of file comm_link.h.

Member Enumeration Documentation

enum rosflight_firmware::CommLinkInterface::Command
strong
Enumerator
COMMAND_READ_PARAMS 
COMMAND_WRITE_PARAMS 
COMMAND_SET_PARAM_DEFAULTS 
COMMAND_ACCEL_CALIBRATION 
COMMAND_GYRO_CALIBRATION 
COMMAND_BARO_CALIBRATION 
COMMAND_AIRSPEED_CALIBRATION 
COMMAND_RC_CALIBRATION 
COMMAND_REBOOT 
COMMAND_REBOOT_TO_BOOTLOADER 
COMMAND_SEND_VERSION 

Definition at line 57 of file comm_link.h.

enum rosflight_firmware::CommLinkInterface::LogSeverity
strong
Enumerator
LOG_INFO 
LOG_WARNING 
LOG_ERROR 
LOG_CRITICAL 

Definition at line 49 of file comm_link.h.

Member Function Documentation

virtual void rosflight_firmware::CommLinkInterface::init ( uint32_t  baud_rate,
uint32_t  dev 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::receive ( )
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_attitude_quaternion ( uint8_t  system_id,
uint64_t  timestamp_us,
const turbomath::Quaternion &  attitude,
const turbomath::Vector &  angular_velocity 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_baro ( uint8_t  system_id,
float  altitude,
float  pressure,
float  temperature 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_battery_status ( uint8_t  system_id,
float  voltage,
float  current 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_command_ack ( uint8_t  system_id,
Command  command,
bool  success 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_diff_pressure ( uint8_t  system_id,
float  velocity,
float  pressure,
float  temperature 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_error_data ( uint8_t  system_id,
const StateManager::BackupData &  error_data 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_gnss ( uint8_t  system_id,
const GNSSData &  data 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_gnss_full ( uint8_t  system_id,
const GNSSFull &  data 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_heartbeat ( uint8_t  system_id,
bool  fixed_wing 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_imu ( uint8_t  system_id,
uint64_t  timestamp_us,
const turbomath::Vector &  accel,
const turbomath::Vector &  gyro,
float  temperature 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_log_message ( uint8_t  system_id,
LogSeverity  severity,
const char *  text 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_mag ( uint8_t  system_id,
const turbomath::Vector &  mag 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_named_value_float ( uint8_t  system_id,
uint32_t  timestamp_ms,
const char *const  name,
float  value 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_named_value_int ( uint8_t  system_id,
uint32_t  timestamp_ms,
const char *const  name,
int32_t  value 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_output_raw ( uint8_t  system_id,
uint32_t  timestamp_ms,
const float  raw_outputs[14] 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_param_value_float ( uint8_t  system_id,
uint16_t  index,
const char *const  name,
float  value,
uint16_t  param_count 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_param_value_int ( uint8_t  system_id,
uint16_t  index,
const char *const  name,
int32_t  value,
uint16_t  param_count 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_rc_raw ( uint8_t  system_id,
uint32_t  timestamp_ms,
const uint16_t  channels[8] 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_sonar ( uint8_t  system_id,
uint8_t  type,
float  range,
float  max_range,
float  min_range 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_status ( uint8_t  system_id,
bool  armed,
bool  failsafe,
bool  rc_override,
bool  offboard,
uint8_t  error_code,
uint8_t  control_mode,
int16_t  num_errors,
int16_t  loop_time_us 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_timesync ( uint8_t  system_id,
int64_t  tc1,
int64_t  ts1 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::send_version ( uint8_t  system_id,
const char *const  version 
)
pure virtual

Implemented in rosflight_firmware::Mavlink.

virtual void rosflight_firmware::CommLinkInterface::set_listener ( ListenerInterface *  listener)
pure virtual

Implemented in rosflight_firmware::Mavlink.

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

rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Apr 15 2021 05:07:58