rosflight_firmware::UDPBoard Class Reference

#include <udp_board.h>

Inheritance diagram for rosflight_firmware::UDPBoard:

Classes
struct	Buffer

Public Member Functions
uint16_t	serial_bytes_available (void) override
void	serial_flush () override
void	serial_init (uint32_t baud_rate, uint32_t dev) override
uint8_t	serial_read (void) override
void	serial_write (const uint8_t *src, size_t len) override
void	set_ports (std::string bind_host, uint16_t bind_port, std::string remote_host, uint16_t remote_port)
	UDPBoard (std::string bind_host="localhost", uint16_t bind_port=14525, std::string remote_host="localhost", uint16_t remote_port=14520)
	~UDPBoard ()
Public Member Functions inherited from rosflight_firmware::Board
virtual void	backup_memory_clear (size_t len)=0
virtual void	backup_memory_init ()=0
virtual bool	backup_memory_read (void *dest, size_t len)=0
virtual void	backup_memory_write (const void *src, size_t len)=0
virtual bool	baro_present ()=0
virtual void	baro_read (float *pressure, float *temperature)=0
virtual void	baro_update ()=0
virtual bool	battery_current_present () const =0
virtual float	battery_current_read () const =0
virtual void	battery_current_set_multiplier (double multiplier)=0
virtual bool	battery_voltage_present () const =0
virtual float	battery_voltage_read () const =0
virtual void	battery_voltage_set_multiplier (double multiplier)=0
virtual void	board_reset (bool bootloader)=0
virtual void	clock_delay (uint32_t milliseconds)=0
virtual uint64_t	clock_micros ()=0
virtual uint32_t	clock_millis ()=0
virtual bool	diff_pressure_present ()=0
virtual void	diff_pressure_read (float *diff_pressure, float *temperature)=0
virtual void	diff_pressure_update ()=0
virtual GNSSFull	gnss_full_read ()=0
virtual bool	gnss_has_new_data ()=0
virtual bool	gnss_present ()=0
virtual GNSSData	gnss_read ()=0
virtual void	gnss_update ()=0
virtual void	imu_not_responding_error ()=0
virtual bool	imu_read (float accel[3], float *temperature, float gyro[3], uint64_t *time)=0
virtual void	init_board ()=0
virtual void	led0_off ()=0
virtual void	led0_on ()=0
virtual void	led0_toggle ()=0
virtual void	led1_off ()=0
virtual void	led1_on ()=0
virtual void	led1_toggle ()=0
virtual bool	mag_present ()=0
virtual void	mag_read (float mag[3])=0
virtual void	mag_update ()=0
virtual void	memory_init ()=0
virtual bool	memory_read (void *dest, size_t len)=0
virtual bool	memory_write (const void *src, size_t len)=0
virtual bool	new_imu_data ()=0
virtual uint16_t	num_sensor_errors ()=0
virtual void	pwm_disable ()=0
virtual void	pwm_init (uint32_t refresh_rate, uint16_t idle_pwm)=0
virtual void	pwm_write (uint8_t channel, float value)=0
virtual void	rc_init (rc_type_t rc_type)=0
virtual bool	rc_lost ()=0
virtual float	rc_read (uint8_t channel)=0
virtual void	sensors_init ()=0
virtual bool	sonar_present ()=0
virtual float	sonar_read ()=0
virtual void	sonar_update ()=0

Private Types
typedef boost::lock_guard< boost::recursive_mutex >	MutexLock

Private Member Functions
void	async_read ()
void	async_read_end (const boost::system::error_code &error, size_t bytes_transferred)
void	async_write (bool check_write_state)
void	async_write_end (const boost::system::error_code &error, size_t bytes_transferred)

Private Attributes
boost::asio::ip::udp::endpoint	bind_endpoint_
std::string	bind_host_
uint16_t	bind_port_
boost::asio::io_service	io_service_
boost::thread	io_thread_
uint8_t	read_buffer_ [MAVLINK_MAX_PACKET_LEN]
boost::recursive_mutex	read_mutex_
std::list< Buffer * >	read_queue_
boost::asio::ip::udp::endpoint	remote_endpoint_
std::string	remote_host_
uint16_t	remote_port_
boost::asio::ip::udp::socket	socket_
bool	write_in_progress_
boost::recursive_mutex	write_mutex_
std::list< Buffer * >	write_queue_

Additional Inherited Members
Public Types inherited from rosflight_firmware::Board
enum	rc_type_t { RC_TYPE_PPM = 0, RC_TYPE_SBUS = 1 }

Detailed Description

Definition at line 51 of file udp_board.h.

Member Typedef Documentation

typedef boost::lock_guard<boost::recursive_mutex> rosflight_firmware::UDPBoard::MutexLock

private

Definition at line 91 of file udp_board.h.

Constructor & Destructor Documentation

rosflight_firmware::UDPBoard::UDPBoard	(	std::string	bind_host = "localhost",
		uint16_t	bind_port = 14525,
		std::string	remote_host = "localhost",
		uint16_t	remote_port = 14520
	)

Definition at line 44 of file udp_board.cpp.

rosflight_firmware::UDPBoard::~UDPBoard

(

)

Definition at line 55 of file udp_board.cpp.

Member Function Documentation

void rosflight_firmware::UDPBoard::async_read ( )

private

Definition at line 137 of file udp_board.cpp.

void rosflight_firmware::UDPBoard::async_read_end ( const boost::system::error_code &  error, size_t  bytes_transferred  )

private

Definition at line 148 of file udp_board.cpp.

void rosflight_firmware::UDPBoard::async_write ( bool  check_write_state )

private

Definition at line 158 of file udp_board.cpp.

void rosflight_firmware::UDPBoard::async_write_end ( const boost::system::error_code &  error, size_t  bytes_transferred  )

private

Definition at line 174 of file udp_board.cpp.

uint16_t rosflight_firmware::UDPBoard::serial_bytes_available ( void  )

overridevirtual

Todo:

This should return a number, not a bool

Implements rosflight_firmware::Board.

Definition at line 113 of file udp_board.cpp.

void rosflight_firmware::UDPBoard::serial_flush ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 99 of file udp_board.cpp.

void rosflight_firmware::UDPBoard::serial_init ( uint32_t  baud_rate, uint32_t  dev  )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 75 of file udp_board.cpp.

uint8_t rosflight_firmware::UDPBoard::serial_read ( void  )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 119 of file udp_board.cpp.

void rosflight_firmware::UDPBoard::serial_write ( const uint8_t *  src, size_t  len  )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 101 of file udp_board.cpp.

void rosflight_firmware::UDPBoard::set_ports	(	std::string	bind_host,
		uint16_t	bind_port,
		std::string	remote_host,
		uint16_t	remote_port
	)

Definition at line 67 of file udp_board.cpp.

Member Data Documentation

boost::asio::ip::udp::endpoint rosflight_firmware::UDPBoard::bind_endpoint_

private

Definition at line 112 of file udp_board.h.

std::string rosflight_firmware::UDPBoard::bind_host_

private

Definition at line 99 of file udp_board.h.

uint16_t rosflight_firmware::UDPBoard::bind_port_

private

Definition at line 100 of file udp_board.h.

boost::asio::io_service rosflight_firmware::UDPBoard::io_service_

private

Definition at line 109 of file udp_board.h.

boost::thread rosflight_firmware::UDPBoard::io_thread_

private

Definition at line 105 of file udp_board.h.

uint8_t rosflight_firmware::UDPBoard::read_buffer_[MAVLINK_MAX_PACKET_LEN]

private

Definition at line 115 of file udp_board.h.

boost::recursive_mutex rosflight_firmware::UDPBoard::read_mutex_

private

Definition at line 107 of file udp_board.h.

std::list<Buffer*> rosflight_firmware::UDPBoard::read_queue_

private

Definition at line 116 of file udp_board.h.

boost::asio::ip::udp::endpoint rosflight_firmware::UDPBoard::remote_endpoint_

private

Definition at line 113 of file udp_board.h.

std::string rosflight_firmware::UDPBoard::remote_host_

private

Definition at line 102 of file udp_board.h.

uint16_t rosflight_firmware::UDPBoard::remote_port_

private

Definition at line 103 of file udp_board.h.

boost::asio::ip::udp::socket rosflight_firmware::UDPBoard::socket_

private

Definition at line 111 of file udp_board.h.

bool rosflight_firmware::UDPBoard::write_in_progress_

private

Definition at line 119 of file udp_board.h.

boost::recursive_mutex rosflight_firmware::UDPBoard::write_mutex_

private

Definition at line 106 of file udp_board.h.

std::list<Buffer*> rosflight_firmware::UDPBoard::write_queue_

private

Definition at line 118 of file udp_board.h.

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

• udp_board.h
• udp_board.cpp