#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 bool	baro_present ()=0

virtual void	baro_read (float pressure, float temperature)=0

virtual void	baro_update ()=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 BackupData	get_backup_data ()=0

virtual bool	gnss_has_new_data ()=0

virtual bool	gnss_present ()=0

virtual GNSSRaw	gnss_raw_read ()=0

virtual GNSSData	gnss_read ()=0

virtual void	gnss_update ()=0

virtual bool	has_backup_data ()=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 52 of file udp_board.h.

Member Typedef Documentation

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

private

Definition at line 92 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 45 of file udp_board.cpp.

rosflight_firmware::UDPBoard::~UDPBoard ( )

Definition at line 56 of file udp_board.cpp.

Member Function Documentation

void rosflight_firmware::UDPBoard::async_read ( )

private

Definition at line 136 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 149 of file udp_board.cpp.

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

private

Definition at line 159 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 178 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 112 of file udp_board.cpp.

void rosflight_firmware::UDPBoard::serial_flush ( )

inlineoverridevirtual

Implements rosflight_firmware::Board.

Definition at line 63 of file udp_board.h.

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 76 of file udp_board.cpp.

uint8_t rosflight_firmware::UDPBoard::serial_read ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 118 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 100 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 68 of file udp_board.cpp.

Member Data Documentation

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

private

Definition at line 113 of file udp_board.h.

std::string rosflight_firmware::UDPBoard::bind_host_

private

Definition at line 100 of file udp_board.h.

uint16_t rosflight_firmware::UDPBoard::bind_port_

private

Definition at line 101 of file udp_board.h.

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

private

Definition at line 110 of file udp_board.h.

boost::thread rosflight_firmware::UDPBoard::io_thread_

private

Definition at line 106 of file udp_board.h.

uint8_t rosflight_firmware::UDPBoard::read_buffer_[MAVLINK_MAX_PACKET_LEN]

private

Definition at line 116 of file udp_board.h.

boost::recursive_mutex rosflight_firmware::UDPBoard::read_mutex_

private

Definition at line 108 of file udp_board.h.

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

private

Definition at line 117 of file udp_board.h.

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

private

Definition at line 114 of file udp_board.h.

std::string rosflight_firmware::UDPBoard::remote_host_

private

Definition at line 103 of file udp_board.h.

uint16_t rosflight_firmware::UDPBoard::remote_port_

private

Definition at line 104 of file udp_board.h.

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

private

Definition at line 112 of file udp_board.h.

bool rosflight_firmware::UDPBoard::write_in_progress_

private

Definition at line 120 of file udp_board.h.

boost::recursive_mutex rosflight_firmware::UDPBoard::write_mutex_

private

Definition at line 107 of file udp_board.h.

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

private

Definition at line 119 of file udp_board.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation