#include <mavModule.h>

Inheritance diagram for dji2mav::MavModule:

Public Member Functions
bool	activateSender (uint16_t gcsIdx)
	Activate sender of the specific GCS.
virtual void	activelySend ()=0
	Handle the messages sending process for the module.
void	clearBuf ()
	Clear buffer content.
bool	employGcsSender (uint16_t gcsIdx)
	Employ a sender for the specific GCS.
int	getGcsSenderIdx (uint16_t gcsIdx)
	Get sender index for specific GCS.
int	getMasterGcsIdx ()
	Get the index of master GCS.
int	getMasterGcsSenderIdx ()
	Get the sender index of master GCS.
uint8_t	getMySysid ()
	Get the sysid of this device.
std::string	getName ()
	Get the name of module.
const int *	getSenderRecord ()
	Get the senderRecord array address.
	MavModule (MavHandler &handler, std::string name, uint16_t bufSize)
	Constructor for base MavModule class.
virtual void	passivelyReceive (mavlink_message_t &msg)=0
	Handle the received messages process for the module.
bool	pullMsg (mavlink_message_t &destMsg)
	Pull mavlink message from the buffer.
bool	pushMsg (uint16_t gcsIdx, const mavlink_message_t &srcMsg)
	Push mavlink message to the buffer.
void	receiveHelper (mavlink_message_t &msg)
	The helper of thread passively reveive.
bool	run ()
	Run a thread for the module.
bool	sendMsgToAll (mavlink_message_t &msg)
	Send message to all activated GCS.
bool	sendMsgToGcs (uint16_t gcsIdx, mavlink_message_t &msg)
	Send message to specific GCS.
bool	sendMsgToMaster (mavlink_message_t &msg)
	Send message to master GCS.
bool	sendMsgToSys (uint8_t sysid, mavlink_message_t &msg)
	Send message to corresponding GCS with sysid.
bool	setMasterGcsIdx (uint16_t gcsIdx)
	Set the master GCS with its index.
virtual	~MavModule ()
Static Public Member Functions
static void *	thread_call (void *param)
	A thread calling function for the module.
Private Attributes
MavHandler *	m_hdlr
int	m_masterGcsIdx
uint8_t	m_masterSysid
ModuleBuf *	m_moduleBuf
std::string	m_name
int *	m_senderRecord
pthread_t	m_tid

Detailed Description

Definition at line 24 of file mavModule.h.

Constructor & Destructor Documentation

dji2mav::MavModule::MavModule	(	MavHandler &	handler,
		std::string	name,
		uint16_t	bufSize
	)		`[inline]`

Constructor for base MavModule class.

Parameters:

handler	: The reference of MavHandler Object
name	: The string name of this module
buf	: The buffer size of received message

Definition at line 33 of file mavModule.h.

virtual dji2mav::MavModule::~MavModule ( ) [inline, virtual]

Definition at line 54 of file mavModule.h.

Member Function Documentation

bool dji2mav::MavModule::activateSender ( uint16_t gcsIdx ) [inline]

Activate sender of the specific GCS.

Parameters:

gcsIdx : The index of GCS

Returns:: True if succeed or false if fail

Definition at line 170 of file mavModule.h.

virtual void dji2mav::MavModule::activelySend ( ) [pure virtual]

Handle the messages sending process for the module.

Implemented in dji2mav::MavSensors, dji2mav::MavHeartbeat, dji2mav::MavHotpoint, and dji2mav::MavWaypoint.

void dji2mav::MavModule::clearBuf ( ) [inline]

Clear buffer content.

Definition at line 300 of file mavModule.h.

bool dji2mav::MavModule::employGcsSender ( uint16_t gcsIdx ) [inline]

Employ a sender for the specific GCS.

Parameters:

gcsIdx : The index of GCS

Returns:: True if succeed or false if fail

Definition at line 153 of file mavModule.h.

int dji2mav::MavModule::getGcsSenderIdx ( uint16_t gcsIdx ) [inline]

Get sender index for specific GCS.

Parameters:

gcsIdx : The index of GCS

Returns:: The sender index of the GCS or -2 for invalid input

Definition at line 141 of file mavModule.h.

int dji2mav::MavModule::getMasterGcsIdx ( ) [inline]

Get the index of master GCS.

Returns:: The index of master GCS

Definition at line 89 of file mavModule.h.

int dji2mav::MavModule::getMasterGcsSenderIdx ( ) [inline]

Get the sender index of master GCS.

Returns:: SenderIdx of master, -2 for no master or -1 for no sender

Definition at line 98 of file mavModule.h.

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

Get the sysid of this device.

Returns:: The sysid of this device

Definition at line 80 of file mavModule.h.

std::string dji2mav::MavModule::getName ( ) [inline]

Get the name of module.

Returns:: The name of module

Definition at line 71 of file mavModule.h.

const int* dji2mav::MavModule::getSenderRecord ( ) [inline]

Get the senderRecord array address.

Returns:: The address of senderRecord

Definition at line 131 of file mavModule.h.

virtual void dji2mav::MavModule::passivelyReceive ( mavlink_message_t & msg ) [pure virtual]

Handle the received messages process for the module.

Parameters:

msg	: The reference of received message

Implemented in dji2mav::MavSensors, dji2mav::MavHeartbeat, dji2mav::MavHotpoint, and dji2mav::MavWaypoint.

bool dji2mav::MavModule::pullMsg ( mavlink_message_t & destMsg ) [inline]

Pull mavlink message from the buffer.

Parameters:

destMsg : The destination of message

Returns:: True if succeed or false if fail

Definition at line 289 of file mavModule.h.

bool dji2mav::MavModule::pushMsg	(	uint16_t	gcsIdx,
		const mavlink_message_t &	srcMsg
	)		`[inline]`

Push mavlink message to the buffer.

Parameters:

srcMsg : The source of message

Returns:: True if succeed or false if fail

Definition at line 275 of file mavModule.h.

void dji2mav::MavModule::receiveHelper ( mavlink_message_t & msg ) [inline]

The helper of thread passively reveive.

Parameters:

msg	: A reference of message type that is used to recv

Definition at line 339 of file mavModule.h.

bool dji2mav::MavModule::run ( ) [inline]

Run a thread for the module.

Returns:: True if succeed to create the thread or false if fail

Definition at line 309 of file mavModule.h.

bool dji2mav::MavModule::sendMsgToAll ( mavlink_message_t & msg ) [inline]

Send message to all activated GCS.

Parameters:

msg	: The reference of encoded mavlink message

Returns:: True if succeed or false if fail

Definition at line 251 of file mavModule.h.

bool dji2mav::MavModule::sendMsgToGcs	(	uint16_t	gcsIdx,
		mavlink_message_t &	msg
	)		`[inline]`

Send message to specific GCS.

Parameters:

gcsIdx	: The index of specific GCS
msg	: The reference of encoded mavlink message

Returns:: True if succeed or false if fail

Definition at line 198 of file mavModule.h.

bool dji2mav::MavModule::sendMsgToMaster ( mavlink_message_t & msg ) [inline]

Send message to master GCS.

Parameters:

msg	: The reference of encoded mavlink message

Returns:: True if succeed or false if fail

Definition at line 241 of file mavModule.h.

bool dji2mav::MavModule::sendMsgToSys	(	uint8_t	sysid,
		mavlink_message_t &	msg
	)		`[inline]`

Send message to corresponding GCS with sysid.

Parameters:

sysid	: The sysid of target device
msg	: The reference of encoded mavlink message

Returns:: True if succeed or false if fail

Definition at line 223 of file mavModule.h.

bool dji2mav::MavModule::setMasterGcsIdx ( uint16_t gcsIdx ) [inline]

Set the master GCS with its index.

Parameters:

gcsIdx : The index of GCS that is to be set

Returns:: True if succeed or false if fail

Definition at line 111 of file mavModule.h.

static void* dji2mav::MavModule::thread_call ( void * param ) [inline, static]

A thread calling function for the module.

Parameters:

param : The pointer to the module object

Definition at line 324 of file mavModule.h.

Member Data Documentation

MavHandler* dji2mav::MavModule::m_hdlr [private]

Definition at line 369 of file mavModule.h.

int dji2mav::MavModule::m_masterGcsIdx [private]

Definition at line 366 of file mavModule.h.

uint8_t dji2mav::MavModule::m_masterSysid [private]

Definition at line 367 of file mavModule.h.

ModuleBuf* dji2mav::MavModule::m_moduleBuf [private]

Definition at line 365 of file mavModule.h.

std::string dji2mav::MavModule::m_name [private]

Definition at line 372 of file mavModule.h.

int* dji2mav::MavModule::m_senderRecord [private]

Definition at line 364 of file mavModule.h.

pthread_t dji2mav::MavModule::m_tid [private]

Definition at line 371 of file mavModule.h.

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

mavModule.h

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation