#include <mavHandler.h>

Public Member Functions
bool	establish (uint16_t mngIdx, std::string targetIP, uint16_t targetPort, uint16_t srcPort, uint16_t senderListSize=DEFAULT_SENDER_LIST_SIZE, uint16_t sendBufSize=DEFAULT_SEND_BUF_SIZE, uint16_t recvBufSize=DEFAULT_RECV_BUF_SIZE)
	Establish UDP connection of the mng.
int	findMngIdx (uint8_t sysid)
	Get the index of Manager by its sysid.
uint8_t	findMngSysid (uint16_t mngIdx)
	Find the sysid of specific Manager.
uint16_t	getMaxListSize ()
	Get the max size of mngList(aka, GCS number)
uint8_t	getMySysid ()
	Get the sysid of the device.
bool	isValidMngIdx (uint16_t mngIdx)
	Check whether the manager index is valid.
	MavHandler (uint8_t mySysid, uint16_t maxMngNum)
	Constructor for MavHandler.
int	recvFromAll (mavlink_message_t recvMsgList, mavlink_status_t recvStatusList, uint16_t listSize)
	Receive data from all Manager and parse it.
int	recvFromMng (uint16_t mngIdx, mavlink_message_t recvMsgList, mavlink_status_t recvStatusList, uint16_t listSize)
	Receive data and parse it from buffer to mavlink message.
int	registerSender (uint16_t mngIdx, uint16_t bufSize)
	Register a messager sender with specifc buf size.
int	registerSender (uint16_t mngIdx)
	Register a messager sender with default buf size.
bool	sendEncodedMsgToMng (uint16_t mngIdx, uint16_t senderIdx, const mavlink_message_t &msg)
	Send msg to specific mng using specific sender.
bool	sendEncodedMsgToSys (uint8_t sysid, uint16_t senderIdx, const mavlink_message_t &msg)
	Send msg with specific sysid using specific sender.
bool	setMngSysid (uint16_t mngIdx, uint8_t sysid)
	Set the sysid of specific Manager.
void	updateSysid (uint16_t mngIdx, uint8_t sysid)
	Implement update sysid strategy. Currently it is simple.
	~MavHandler ()
Private Attributes
uint16_t	m_maxListSize
MsgManager **	m_mngList
uint8_t	m_mySysid
uint8_t *	m_sysidRecord

Detailed Description

Definition at line 34 of file mavHandler.h.

Constructor & Destructor Documentation

dji2mav::MavHandler::MavHandler	(	uint8_t	mySysid,
		uint16_t	maxMngNum
	)		`[inline]`

Constructor for MavHandler.

Parameters:

mySysid	: The mavlink sysid of the device
maxMngNum	: The max number of Manager

Definition at line 41 of file mavHandler.h.

dji2mav::MavHandler::~MavHandler ( ) [inline]

Definition at line 63 of file mavHandler.h.

Member Function Documentation

bool dji2mav::MavHandler::establish	(	uint16_t	mngIdx,
		std::string	targetIP,
		uint16_t	targetPort,
		uint16_t	srcPort,
		uint16_t	senderListSize = `DEFAULT_SENDER_LIST_SIZE`,
		uint16_t	sendBufSize = `DEFAULT_SEND_BUF_SIZE`,
		uint16_t	recvBufSize = `DEFAULT_RECV_BUF_SIZE`
	)		`[inline]`

Establish UDP connection of the mng.

Parameters:

mngIdx	: The index of Manager
targetIP	: The IP of target
targetPort	: The connection port of target
srcPort	: The connection port of source
senderListSize	: The size of sender list
sendBufSize	: The default value of send buf size
recvBufSize	: The recv buf size

Returns:: True if succeed or false if fail

Definition at line 233 of file mavHandler.h.

int dji2mav::MavHandler::findMngIdx ( uint8_t sysid ) [inline]

Get the index of Manager by its sysid.

Parameters:

sysid : The sysid that is used to match

Returns:: Idx of Manager, -1 for not found or -2 for invalid input

Definition at line 159 of file mavHandler.h.

uint8_t dji2mav::MavHandler::findMngSysid ( uint16_t mngIdx ) [inline]

Find the sysid of specific Manager.

Parameters:

mngIdx : The index of Manager

Returns:: The sysid of mng. Return 0 if invalid input or no record

Definition at line 119 of file mavHandler.h.

uint16_t dji2mav::MavHandler::getMaxListSize ( ) [inline]

Get the max size of mngList(aka, GCS number)

Returns:: The max size of mngList(aka, GCS number)

Definition at line 109 of file mavHandler.h.

uint8_t dji2mav::MavHandler::getMySysid ( ) [inline]

Get the sysid of the device.

Returns:: The sysid of the device

Definition at line 100 of file mavHandler.h.

bool dji2mav::MavHandler::isValidMngIdx ( uint16_t mngIdx ) [inline]

Check whether the manager index is valid.

Parameters:

mngIdx : The index of manager that is to be checked

Returns:: True if valid or false if invalid

Definition at line 91 of file mavHandler.h.

int dji2mav::MavHandler::recvFromAll	(	mavlink_message_t *	recvMsgList,
		mavlink_status_t *	recvStatusList,
		uint16_t	listSize
	)		`[inline]`

Receive data from all Manager and parse it.

Parameters:

recvMsgList	: The pointer to a recv msg list
recvStatusList	: The pointer to a recv status list
listSize	: The size of list

Returns:: Num of msg received, -1 for error

Definition at line 425 of file mavHandler.h.

int dji2mav::MavHandler::recvFromMng	(	uint16_t	mngIdx,
		mavlink_message_t *	recvMsgList,
		mavlink_status_t *	recvStatusList,
		uint16_t	listSize
	)		`[inline]`

Receive data and parse it from buffer to mavlink message.

Parameters:

mngIdx	: The index of manager
recvMsgList	: The pointer to a recv msg array
recvStatusList	: The pointer to a recv status array
listSize	: The size of list

Returns:: Num of msg received, -2 for invalid input or -1 for error

Definition at line 356 of file mavHandler.h.

int dji2mav::MavHandler::registerSender	(	uint16_t	mngIdx,
		uint16_t	bufSize
	)		`[inline]`

Register a messager sender with specifc buf size.

Parameters:

mngIdx	: The index the Manager
bufSize	: The size of sender buf that is to be allocated

Returns:: Idx of the sender. -1 for full list, -2 for invalid input

Definition at line 195 of file mavHandler.h.

int dji2mav::MavHandler::registerSender ( uint16_t mngIdx ) [inline]

Register a messager sender with default buf size.

Parameters:

mngIdx : The index the Manager

Returns:: Idx of the sender. -1 for full list, -2 for invalid input

Definition at line 211 of file mavHandler.h.

bool dji2mav::MavHandler::sendEncodedMsgToMng	(	uint16_t	mngIdx,
		uint16_t	senderIdx,
		const mavlink_message_t &	msg
	)		`[inline]`

Send msg to specific mng using specific sender.

Parameters:

mngIdx	: The index of Manager
senderIdx	: The index of sender
msg	: The reference of msg that is to be sent

Returns:: True if succeed and false if fail

Definition at line 287 of file mavHandler.h.

bool dji2mav::MavHandler::sendEncodedMsgToSys	(	uint8_t	sysid,
		uint16_t	senderIdx,
		const mavlink_message_t &	msg
	)		`[inline]`

Send msg with specific sysid using specific sender.

Parameters:

sysid	: The target sysid
senderIdx	: The index of sender
msg	: The reference of msg that is to be sent

Returns:: True if succeed or false if fail

Definition at line 330 of file mavHandler.h.

bool dji2mav::MavHandler::setMngSysid	(	uint16_t	mngIdx,
		uint8_t	sysid
	)		`[inline]`

Set the sysid of specific Manager.

Parameters:

mngIdx	: The index of Manager
sysid	: The sysid that is to be set

Returns:: True if succeed or false if fail

Definition at line 136 of file mavHandler.h.

void dji2mav::MavHandler::updateSysid	(	uint16_t	mngIdx,
		uint8_t	sysid
	)		`[inline]`

Implement update sysid strategy. Currently it is simple.

Parameters:

mngIdx	: The index of Manager
sysid	: The sysid that is going to be update

Definition at line 180 of file mavHandler.h.

Member Data Documentation

uint16_t dji2mav::MavHandler::m_maxListSize [private]

Definition at line 461 of file mavHandler.h.

MsgManager** dji2mav::MavHandler::m_mngList [private]

Definition at line 460 of file mavHandler.h.

uint8_t dji2mav::MavHandler::m_mySysid [private]

Definition at line 464 of file mavHandler.h.

uint8_t* dji2mav::MavHandler::m_sysidRecord [private]

Definition at line 462 of file mavHandler.h.

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

mavHandler.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation