#include <comm_manager.h>

Inheritance diagram for rosflight_firmware::CommManager:

Classes
class	LogMessageBuffer

class	Stream

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

void	init ()

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

void	param_change_callback (uint16_t param_id) override

void	receive (void)

void	send_backup_data (const StateManager::BackupData &backup_data)

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	aux_command_callback (const CommLinkInterface::AuxCommand &command) override

void	command_callback (CommLinkInterface::Command command) override

void	external_attitude_callback (const turbomath::Quaternion &q) override

void	heartbeat_callback () override

void	offboard_control_callback (const CommLinkInterface::OffboardControl &control) override

void	param_request_list_callback (uint8_t target_system) override

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

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

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

void	send_attitude (void)

void	send_baro (void)

void	send_battery_status (void)

void	send_diff_pressure (void)

void	send_gnss (void)

void	send_gnss_full (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) override

void	update_system_id (uint16_t param_id)

Private Attributes
StateManager::BackupData	backup_data_buffer_

CommLinkInterface &	comm_link_

bool	connected_ = false

bool	have_backup_data_ = false

bool	initialized_ = false

uint32_t	last_sent_gnss_full_tow_ = 0

uint32_t	last_sent_gnss_tow_ = 0

LogMessageBuffer	log_buffer_

uint64_t	offboard_control_time_

ROSflight &	RF_

uint8_t	send_params_index_

Stream	streams_ [STREAM_COUNT]

uint8_t	sysid_

Static Private Attributes
static constexpr int	LOG_MSG_SIZE = 50

Detailed Description

Definition at line 47 of file comm_manager.h.

Member Enumeration Documentation

◆ OffboardControlMode

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 72 of file comm_manager.h.

◆ StreamId

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_BATTERY_STATUS
STREAM_ID_SERVO_OUTPUT_RAW
STREAM_ID_GNSS
STREAM_ID_GNSS_FULL
STREAM_ID_RC_RAW
STREAM_ID_LOW_PRIORITY
STREAM_COUNT

Definition at line 50 of file comm_manager.h.

Constructor & Destructor Documentation

◆ CommManager()

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

Definition at line 74 of file comm_manager.cpp.

Member Function Documentation

◆ aux_command_callback()

void rosflight_firmware::CommManager::aux_command_callback ( const CommLinkInterface::AuxCommand & command )

overrideprivatevirtual

Implements rosflight_firmware::CommLinkInterface::ListenerInterface.

Definition at line 346 of file comm_manager.cpp.

◆ command_callback()

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

overrideprivatevirtual

Implements rosflight_firmware::CommLinkInterface::ListenerInterface.

Definition at line 233 of file comm_manager.cpp.

◆ external_attitude_callback()

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

overrideprivatevirtual

Implements rosflight_firmware::CommLinkInterface::ListenerInterface.

Definition at line 376 of file comm_manager.cpp.

◆ heartbeat_callback()

void rosflight_firmware::CommManager::heartbeat_callback ( void )

overrideprivatevirtual

JSJ: I don't think we need this

Implements rosflight_firmware::CommLinkInterface::ListenerInterface.

Definition at line 381 of file comm_manager.cpp.

◆ init()

void rosflight_firmware::CommManager::init ( )

Definition at line 77 of file comm_manager.cpp.

◆ log()

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

Definition at line 405 of file comm_manager.cpp.

◆ offboard_control_callback()

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

overrideprivatevirtual

Implements rosflight_firmware::CommLinkInterface::ListenerInterface.

Definition at line 303 of file comm_manager.cpp.

◆ param_change_callback()

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

overridevirtual

Implements rosflight_firmware::ParamListenerInterface.

Definition at line 103 of file comm_manager.cpp.

◆ param_request_list_callback()

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

overrideprivatevirtual

Implements rosflight_firmware::CommLinkInterface::ListenerInterface.

Definition at line 185 of file comm_manager.cpp.

◆ param_request_read_callback()

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

overrideprivatevirtual

Implements rosflight_firmware::CommLinkInterface::ListenerInterface.

Definition at line 196 of file comm_manager.cpp.

◆ param_set_float_callback()

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

overrideprivatevirtual

Implements rosflight_firmware::CommLinkInterface::ListenerInterface.

Definition at line 220 of file comm_manager.cpp.

◆ param_set_int_callback()

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

overrideprivatevirtual

Implements rosflight_firmware::CommLinkInterface::ListenerInterface.

Definition at line 207 of file comm_manager.cpp.

◆ receive()

void rosflight_firmware::CommManager::receive ( void )

Definition at line 400 of file comm_manager.cpp.

◆ send_attitude()

void rosflight_firmware::CommManager::send_attitude ( void )

private

Definition at line 448 of file comm_manager.cpp.

◆ send_backup_data()

void rosflight_firmware::CommManager::send_backup_data ( const StateManager::BackupData & backup_data )

Definition at line 520 of file comm_manager.cpp.

◆ send_baro()

void rosflight_firmware::CommManager::send_baro ( void )

private

Definition at line 490 of file comm_manager.cpp.

◆ send_battery_status()

void rosflight_firmware::CommManager::send_battery_status ( void )

private

Definition at line 514 of file comm_manager.cpp.

◆ send_diff_pressure()

void rosflight_firmware::CommManager::send_diff_pressure ( void )

private

Definition at line 481 of file comm_manager.cpp.

◆ send_gnss()

void rosflight_firmware::CommManager::send_gnss ( void )

private

Definition at line 533 of file comm_manager.cpp.

◆ send_gnss_full()

void rosflight_firmware::CommManager::send_gnss_full ( void )

private

Definition at line 547 of file comm_manager.cpp.

◆ send_heartbeat()

void rosflight_firmware::CommManager::send_heartbeat ( void )

private

Definition at line 424 of file comm_manager.cpp.

◆ send_imu()

void rosflight_firmware::CommManager::send_imu ( void )

private

Definition at line 454 of file comm_manager.cpp.

◆ send_low_priority()

void rosflight_firmware::CommManager::send_low_priority ( void )

private

Definition at line 561 of file comm_manager.cpp.

◆ send_mag()

void rosflight_firmware::CommManager::send_mag ( void )

private

Definition at line 509 of file comm_manager.cpp.

◆ send_named_value_float()

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

Definition at line 595 of file comm_manager.cpp.

◆ send_named_value_int()

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

private

Definition at line 590 of file comm_manager.cpp.

◆ send_next_param()

void rosflight_firmware::CommManager::send_next_param ( void )

private

Definition at line 600 of file comm_manager.cpp.

◆ send_output_raw()

void rosflight_firmware::CommManager::send_output_raw ( void )

private

Definition at line 462 of file comm_manager.cpp.

◆ send_param_value()

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

Definition at line 165 of file comm_manager.cpp.

◆ send_parameter_list()

void rosflight_firmware::CommManager::send_parameter_list ( )

Definition at line 191 of file comm_manager.cpp.

◆ send_rc_raw()

void rosflight_firmware::CommManager::send_rc_raw ( void )

private

Definition at line 467 of file comm_manager.cpp.

◆ send_sonar()

void rosflight_firmware::CommManager::send_sonar ( void )

private

Definition at line 499 of file comm_manager.cpp.

◆ send_status()

void rosflight_firmware::CommManager::send_status ( void )

private

Definition at line 429 of file comm_manager.cpp.

◆ set_streaming_rate()

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

Definition at line 585 of file comm_manager.cpp.

◆ stream()

void rosflight_firmware::CommManager::stream ( )

Definition at line 575 of file comm_manager.cpp.

◆ timesync_callback()

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

overrideprivatevirtual

Implements rosflight_firmware::CommLinkInterface::ListenerInterface.

Definition at line 295 of file comm_manager.cpp.

◆ update_status()

void rosflight_firmware::CommManager::update_status ( )

Definition at line 160 of file comm_manager.cpp.

◆ update_system_id()

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

private

Definition at line 155 of file comm_manager.cpp.

Member Data Documentation

◆ backup_data_buffer_

StateManager::BackupData rosflight_firmware::CommManager::backup_data_buffer_

private

Definition at line 115 of file comm_manager.h.

◆ comm_link_

CommLinkInterface& rosflight_firmware::CommManager::comm_link_

private

Definition at line 83 of file comm_manager.h.

◆ connected_

bool rosflight_firmware::CommManager::connected_ = false

private

Definition at line 86 of file comm_manager.h.

◆ have_backup_data_

bool rosflight_firmware::CommManager::have_backup_data_ = false

private

Definition at line 116 of file comm_manager.h.

◆ initialized_

bool rosflight_firmware::CommManager::initialized_ = false

private

Definition at line 85 of file comm_manager.h.

◆ last_sent_gnss_full_tow_

uint32_t rosflight_firmware::CommManager::last_sent_gnss_full_tow_ = 0

private

Definition at line 176 of file comm_manager.h.

◆ last_sent_gnss_tow_

uint32_t rosflight_firmware::CommManager::last_sent_gnss_tow_ = 0

private

Definition at line 175 of file comm_manager.h.

◆ log_buffer_

LogMessageBuffer rosflight_firmware::CommManager::log_buffer_

private

Definition at line 113 of file comm_manager.h.

◆ LOG_MSG_SIZE

constexpr int rosflight_firmware::CommManager::LOG_MSG_SIZE = 50

staticprivate

Definition at line 88 of file comm_manager.h.

◆ offboard_control_time_

uint64_t rosflight_firmware::CommManager::offboard_control_time_

private

Definition at line 81 of file comm_manager.h.

◆ RF_

ROSflight& rosflight_firmware::CommManager::RF_

private

Definition at line 82 of file comm_manager.h.

◆ send_params_index_

uint8_t rosflight_firmware::CommManager::send_params_index_

private

Definition at line 84 of file comm_manager.h.

◆ streams_

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_battery_status(); }), Stream(0, [this] { this->send_output_raw(); }),
      Stream(0, [this] { this->send_gnss(); }),           Stream(0, [this] { this->send_gnss_full(); }),
      Stream(0, [this] { this->send_rc_raw(); }),         Stream(20000, [this] { this->send_low_priority(); })}

Definition at line 165 of file comm_manager.h.

◆ sysid_

uint8_t rosflight_firmware::CommManager::sysid_

private

Definition at line 80 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_BATTERY_STATUS, STREAM_ID_SERVO_OUTPUT_RAW, STREAM_ID_GNSS, STREAM_ID_GNSS_FULL, STREAM_ID_RC_RAW, STREAM_ID_LOW_PRIORITY, STREAM_COUNT }

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ OffboardControlMode

◆ StreamId

Constructor & Destructor Documentation

◆ CommManager()

Member Function Documentation

◆ aux_command_callback()

◆ command_callback()

◆ external_attitude_callback()

◆ heartbeat_callback()

◆ init()

◆ log()

◆ offboard_control_callback()

◆ param_change_callback()

◆ param_request_list_callback()

◆ param_request_read_callback()

◆ param_set_float_callback()

◆ param_set_int_callback()

◆ receive()

◆ send_attitude()

◆ send_backup_data()

◆ send_baro()

◆ send_battery_status()

◆ send_diff_pressure()

◆ send_gnss()

◆ send_gnss_full()

◆ send_heartbeat()

◆ send_imu()

◆ send_low_priority()

◆ send_mag()

◆ send_named_value_float()

◆ send_named_value_int()

◆ send_next_param()

◆ send_output_raw()

◆ send_param_value()

◆ send_parameter_list()

◆ send_rc_raw()

◆ send_sonar()

◆ send_status()

◆ set_streaming_rate()

◆ stream()

◆ timesync_callback()

◆ update_status()

◆ update_system_id()

Member Data Documentation

◆ backup_data_buffer_

◆ comm_link_

◆ connected_

◆ have_backup_data_

◆ initialized_

◆ last_sent_gnss_full_tow_

◆ last_sent_gnss_tow_

◆ log_buffer_

◆ LOG_MSG_SIZE

◆ offboard_control_time_

◆ RF_

◆ send_params_index_

◆ streams_

◆ sysid_