#include <comm_manager.h>

Classes
class	Stream

Public Member Functions
	CommManager (ROSflight &rf, CommLink &comm_link)

void	init ()

void	log (CommLink::LogSeverity severity, const char *fmt,...)

void	receive (void)

void	send_named_value_float (const char *const name, float value)

void	send_param_value (uint16_t param_id)

void	send_parameter_list ()

void	set_streaming_rate (uint8_t stream_id, int16_t param_id)

void	stream ()

void	update_status ()

Private Member Functions
void	attitude_correction_callback (const turbomath::Quaternion &q)

void	command_callback (CommLink::Command command)

void	heartbeat_callback (void)

void	offboard_control_callback (const CommLink::OffboardControl &control)

void	param_request_list_callback (uint8_t target_system)

void	param_request_read_callback (uint8_t target_system, const char *const param_name, int16_t param_index)

void	param_set_float_callback (uint8_t target_system, const char *const param_name, float param_value)

void	param_set_int_callback (uint8_t target_system, const char *const param_name, int32_t param_value)

void	send_attitude (void)

void	send_baro (void)

void	send_diff_pressure (void)

void	send_error_data (void)

void	send_gnss (void)

void	send_gnss_raw (void)

void	send_heartbeat (void)

void	send_imu (void)

void	send_low_priority (void)

void	send_mag (void)

void	send_named_value_int (const char *const name, int32_t value)

void	send_next_param (void)

void	send_output_raw (void)

void	send_rc_raw (void)

void	send_sonar (void)

void	send_status (void)

void	timesync_callback (int64_t tc1, int64_t ts1)

void	update_system_id (uint16_t param_id)

Private Attributes
CommLink &	comm_link_

bool	initialized_

uint32_t	last_sent_gnss_raw_tow =0

uint32_t	last_sent_gnss_tow =0

uint64_t	offboard_control_time_

ROSflight &	RF_

uint8_t	send_params_index_

Stream	streams_ [STREAM_COUNT]

uint8_t	sysid_

Detailed Description

Definition at line 46 of file comm_manager.h.

Member Enumeration Documentation

enum rosflight_firmware::CommManager::OffboardControlMode

private

Enumerator
MODE_PASS_THROUGH
MODE_ROLLRATE_PITCHRATE_YAWRATE_THROTTLE
MODE_ROLL_PITCH_YAWRATE_THROTTLE
MODE_ROLL_PITCH_YAWRATE_ALTITUDE

Definition at line 70 of file comm_manager.h.

enum rosflight_firmware::CommManager::StreamId

private

Enumerator
STREAM_ID_HEARTBEAT
STREAM_ID_STATUS
STREAM_ID_ATTITUDE
STREAM_ID_IMU
STREAM_ID_DIFF_PRESSURE
STREAM_ID_BARO
STREAM_ID_SONAR
STREAM_ID_MAG
STREAM_ID_SERVO_OUTPUT_RAW
STREAM_ID_GNSS
STREAM_ID_GNSS_RAW
STREAM_ID_RC_RAW
STREAM_ID_LOW_PRIORITY
STREAM_COUNT

Definition at line 49 of file comm_manager.h.

Constructor & Destructor Documentation

rosflight_firmware::CommManager::CommManager	(	ROSflight &	rf,
		CommLink &	comm_link
	)

Definition at line 40 of file comm_manager.cpp.

Member Function Documentation

void rosflight_firmware::CommManager::attitude_correction_callback ( const turbomath::Quaternion & q )

private

Definition at line 354 of file comm_manager.cpp.

void rosflight_firmware::CommManager::command_callback ( CommLink::Command command )

private

Definition at line 241 of file comm_manager.cpp.

void rosflight_firmware::CommManager::heartbeat_callback ( void )

private

Definition at line 358 of file comm_manager.cpp.

void rosflight_firmware::CommManager::init ( )

Definition at line 49 of file comm_manager.cpp.

void rosflight_firmware::CommManager::log	(	CommLink::LogSeverity	severity,
		const char *	fmt,
			...
	)

Definition at line 378 of file comm_manager.cpp.

void rosflight_firmware::CommManager::offboard_control_callback ( const CommLink::OffboardControl & control )

private

Definition at line 311 of file comm_manager.cpp.

void rosflight_firmware::CommManager::param_request_list_callback ( uint8_t target_system )

private

Definition at line 193 of file comm_manager.cpp.

void rosflight_firmware::CommManager::param_request_read_callback	(	uint8_t	target_system,
		const char *const	param_name,
		int16_t	param_index
	)

private

Definition at line 204 of file comm_manager.cpp.

void rosflight_firmware::CommManager::param_set_float_callback	(	uint8_t	target_system,
		const char *const	param_name,
		float	param_value
	)

private

Definition at line 228 of file comm_manager.cpp.

void rosflight_firmware::CommManager::param_set_int_callback	(	uint8_t	target_system,
		const char *const	param_name,
		int32_t	param_value
	)

private

Definition at line 215 of file comm_manager.cpp.

void rosflight_firmware::CommManager::receive ( void )

Definition at line 373 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_attitude ( void )

private

Definition at line 419 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_baro ( void )

private

Definition at line 473 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_diff_pressure ( void )

private

Definition at line 462 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_error_data ( void )

private

Definition at line 501 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_gnss ( void )

private

Definition at line 507 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_gnss_raw ( void )

private

Definition at line 541 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_heartbeat ( void )

private

Definition at line 389 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_imu ( void )

private

Definition at line 427 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_low_priority ( void )

private

Definition at line 579 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_mag ( void )

private

Definition at line 496 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_named_value_float	(	const char *const	name,
		float	value
	)

Definition at line 605 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_named_value_int	(	const char *const	name,
		int32_t	value
	)

private

Definition at line 600 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_next_param ( void )

private

Definition at line 610 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_output_raw ( void )

private

Definition at line 440 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_param_value ( uint16_t param_id )

Definition at line 167 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_parameter_list ( )

Definition at line 199 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_rc_raw ( void )

private

Definition at line 447 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_sonar ( void )

private

Definition at line 484 of file comm_manager.cpp.

void rosflight_firmware::CommManager::send_status ( void )

private

Definition at line 394 of file comm_manager.cpp.

void rosflight_firmware::CommManager::set_streaming_rate	(	uint8_t	stream_id,
		int16_t	param_id
	)

Definition at line 595 of file comm_manager.cpp.

void rosflight_firmware::CommManager::stream ( )

Definition at line 585 of file comm_manager.cpp.

void rosflight_firmware::CommManager::timesync_callback	(	int64_t	tc1,
		int64_t	ts1
	)

private

Definition at line 303 of file comm_manager.cpp.

void rosflight_firmware::CommManager::update_status ( )

Definition at line 162 of file comm_manager.cpp.

void rosflight_firmware::CommManager::update_system_id ( uint16_t param_id )

private

Definition at line 156 of file comm_manager.cpp.

Member Data Documentation

CommLink& rosflight_firmware::CommManager::comm_link_

private

Definition at line 81 of file comm_manager.h.

bool rosflight_firmware::CommManager::initialized_

private

Definition at line 83 of file comm_manager.h.

uint32_t rosflight_firmware::CommManager::last_sent_gnss_raw_tow =0

private

Definition at line 122 of file comm_manager.h.

uint32_t rosflight_firmware::CommManager::last_sent_gnss_tow =0

private

Definition at line 121 of file comm_manager.h.

uint64_t rosflight_firmware::CommManager::offboard_control_time_

private

Definition at line 79 of file comm_manager.h.

ROSflight& rosflight_firmware::CommManager::RF_

private

Definition at line 80 of file comm_manager.h.

uint8_t rosflight_firmware::CommManager::send_params_index_

private

Definition at line 82 of file comm_manager.h.

Stream rosflight_firmware::CommManager::streams_[STREAM_COUNT]

private

Initial value:

=
  {
    Stream(0,     [this]{this->send_heartbeat();}),
    Stream(0,     [this]{this->send_status();}),
    Stream(0,     [this]{this->send_attitude();}),
    Stream(0,     [this]{this->send_imu();}),
    Stream(0,     [this]{this->send_diff_pressure();}),
    Stream(0,     [this]{this->send_baro();}),
    Stream(0,     [this]{this->send_sonar();}),
    Stream(0,     [this]{this->send_mag();}),
    Stream(0,     [this]{this->send_output_raw();}),
    Stream(0,     [this]{this->send_gnss();}),
    Stream(0,     [this]{this->send_gnss_raw();}),
    Stream(0,     [this]{this->send_rc_raw();}),
    Stream(20000, [this]{this->send_low_priority();})
  }

Definition at line 134 of file comm_manager.h.

uint8_t rosflight_firmware::CommManager::sysid_

private

Definition at line 78 of file comm_manager.h.

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

Private Types
enum	OffboardControlMode { MODE_PASS_THROUGH, MODE_ROLLRATE_PITCHRATE_YAWRATE_THROTTLE, MODE_ROLL_PITCH_YAWRATE_THROTTLE, MODE_ROLL_PITCH_YAWRATE_ALTITUDE }

enum	StreamId { STREAM_ID_HEARTBEAT, STREAM_ID_STATUS, STREAM_ID_ATTITUDE, STREAM_ID_IMU, STREAM_ID_DIFF_PRESSURE, STREAM_ID_BARO, STREAM_ID_SONAR, STREAM_ID_MAG, STREAM_ID_SERVO_OUTPUT_RAW, STREAM_ID_GNSS, STREAM_ID_GNSS_RAW, STREAM_ID_RC_RAW, STREAM_ID_LOW_PRIORITY, STREAM_COUNT }

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation