Handles the communication between host computer and the HighLevel Processor (HLP) of the AscTec Autopilot board. More...

#include <serial_communication.h>

Public Member Functions
void	close ()
	closes the serial port(s)
bool	connect (const std::string &port_rx, const std::string &port_tx, uint32_t baudrate)
	connects to the specified serial port(s) with the given baudrate. The HLP sets it's baudrate automatically.
uint32_t	getRxPackets ()
uint32_t	getRxPacketsGood ()
void	loopOnce ()
template<class T >
void	registerCallback (uint8_t id, void(T::cb_func)(uint8_t , uint32_t), T *p_obj)
	registers a class method that gets called when the packet specified by id was sent from the HLP
template<typename T >
bool	sendPacket (uint8_t packet_id, const T &data)
	sends a packet to the HLP
template<typename T >
bool	sendPacketAck (uint8_t packet_id, const T &data, const double &timeout=1.0)
	sends a packet to the HLP and blocks until it got acknowledged or until the timeout is reached
	SerialCommunication ()
	~SerialCommunication ()
Private Types
typedef boost::asio::serial_port	SerialPort
typedef boost::shared_ptr < SerialPort >	SerialPortPtr
Private Member Functions
bool	configurePort (SerialPortPtr &serial_port, uint32_t *baudrate)
bool	connect (SerialPortPtr &serial_port, const std::string &port, uint32_t baudrate)
uint16_t	crc16 (void *data, uint16_t cnt, uint16_t crc=0xff)
uint16_t	crc_update (uint16_t crc, uint8_t data)
void	processPacketAck (uint8_t *buf, uint32_t length)
void	rxReadCallback (const boost::system::error_code &error, size_t bytes_transferred)
void	rxReadStart (uint32_t length, uint32_t timeout=0)
void	rxTimeoutCallback (const boost::system::error_code &error)
void	serializePacket (uint8_t packet_id, const void *data, const int32_t &packet_size, uint8_t flag=0)
bool	validateChecksum (uint8_t *buf, uint32_t length, uint16_t checksum)
bool	waitForPacketAck (uint8_t ack_id, const double &timeout=1.0)
Private Attributes
bool	baudrate_change_successful_
CommCallbackMap	callbacks_
std::vector< uint8_t >	packet_acks_
SerialPortPtr	port_rx_
std::string	port_rx_name_
SerialPortPtr	port_tx_
std::string	port_tx_name_
uint8_t	rx_buffer_ [256]
uint32_t	rx_packet_cnt_
uint32_t	rx_packet_good_cnt_
int	rx_state_
boost::asio::deadline_timer	rx_timeout_
bool	rx_timeout_occurred_
uint8_t	tx_buffer_ [256]
uint32_t	tx_bytes2send_
const int	TX_HEADER_SIZE
boost::mutex	tx_mutex_
boost::asio::io_service	uart_service_
boost::thread	uart_thread_ [2]

Detailed Description

Handles the communication between host computer and the HighLevel Processor (HLP) of the AscTec Autopilot board.

Can connect to either one or two (e.g. for separate rx/tx wireless links) serial ports. The default baudrate can be changed up to 921600 baud. Messages can be sent with Comm::sendPacket or Comm::sendPacketAck . Messages are received by setting a callback function with Comm::registerCallback for the message id to receive.

Definition at line 60 of file serial_communication.h.

Member Typedef Documentation

typedef boost::asio::serial_port mav::SerialCommunication::SerialPort [private]

Definition at line 62 of file serial_communication.h.

typedef boost::shared_ptr<SerialPort> mav::SerialCommunication::SerialPortPtr [private]

Definition at line 63 of file serial_communication.h.

Constructor & Destructor Documentation

mav::SerialCommunication::SerialCommunication ( )

Definition at line 37 of file serial_communication.cpp.

mav::SerialCommunication::~SerialCommunication ( )

Definition at line 48 of file serial_communication.cpp.

Member Function Documentation

void mav::SerialCommunication::close ( )

closes the serial port(s)

Definition at line 156 of file serial_communication.cpp.

bool mav::SerialCommunication::configurePort	(	SerialPortPtr &	serial_port,
		uint32_t *	baudrate
	)		`[private]`

Definition at line 119 of file serial_communication.cpp.

bool mav::SerialCommunication::connect	(	SerialPortPtr &	serial_port,
		const std::string &	port,
		uint32_t	baudrate
	)		`[private]`

Definition at line 53 of file serial_communication.cpp.

bool mav::SerialCommunication::connect	(	const std::string &	port_rx,
		const std::string &	port_tx,
		uint32_t	baudrate
	)

connects to the specified serial port(s) with the given baudrate. The HLP sets it's baudrate automatically.

The port names can be equal, then it connects only to one serial port (most common operation). It can also connect to different ports for rx and tx. This is useful when e.g. two wireless modules (one for rx, one for tx) such as XBee are used to connect to the helicopter and bandwidth of one link is to low. rx/tx is seen from the host computer running the communication node. Any baudrate can be set. If it doesn't match a standard baudrate, the closest standard baudrate is chosen. If the HLP doesn't "hear" anything from the node for ~10s, it will go into autobaud mode. During connection setup, the node sends 'a' to the HLP, which will then configure its baudrate automatically.

Parameters:

port_rx	port to use for rx
port_tx	port to use for tx
baudrate	baudrate to connect with. equal for both ports. The baudrate finally chosen is written to baudrate.

Returns:: connection successful

Definition at line 73 of file serial_communication.cpp.

uint16_t mav::SerialCommunication::crc16	(	void *	data,
		uint16_t	cnt,
		uint16_t	crc = `0xff`
	)		`[private]`

Definition at line 358 of file serial_communication.cpp.

uint16_t mav::SerialCommunication::crc_update	(	uint16_t	crc,
		uint8_t	data
	)		`[inline, private]`

Definition at line 350 of file serial_communication.cpp.

uint32_t mav::SerialCommunication::getRxPackets ( ) [inline]

Definition at line 129 of file serial_communication.h.

uint32_t mav::SerialCommunication::getRxPacketsGood ( ) [inline]

Definition at line 134 of file serial_communication.h.

void mav::SerialCommunication::loopOnce ( ) [inline]

Definition at line 183 of file serial_communication.h.

void mav::SerialCommunication::processPacketAck	(	uint8_t *	buf,
		uint32_t	length
	)		`[private]`

Definition at line 319 of file serial_communication.cpp.

template<class T >

void mav::SerialCommunication::registerCallback	(	uint8_t	id,
		void(T::)(uint8_t , uint32_t)	cb_func,
		T *	p_obj
	)		`[inline]`

registers a class method that gets called when the packet specified by id was sent from the HLP

Currently, only one method/function can be registered per message id. The method has to be prototyped as follows (see e.g. Comm::processBaudrate):

 void class::method(uint8_t *buffer, uint32_t length)

Parameters:

id	the message id to subscribe to
cb_func	the method that gets called
p_obj	pointer to the object whose cb_func should get called

Definition at line 175 of file serial_communication.h.

void mav::SerialCommunication::rxReadCallback	(	const boost::system::error_code &	error,
		size_t	bytes_transferred
	)		`[private]`

Definition at line 194 of file serial_communication.cpp.

void mav::SerialCommunication::rxReadStart	(	uint32_t	length,
		uint32_t	timeout = `0`
	)		`[private]`

Definition at line 171 of file serial_communication.cpp.

void mav::SerialCommunication::rxTimeoutCallback ( const boost::system::error_code & error ) [private]

Definition at line 184 of file serial_communication.cpp.

template<typename T >

bool mav::SerialCommunication::sendPacket	(	uint8_t	packet_id,
		const T &	data
	)		`[inline]`

sends a packet to the HLP

Definition at line 141 of file serial_communication.h.

template<typename T >

bool mav::SerialCommunication::sendPacketAck	(	uint8_t	packet_id,
		const T &	data,
		const double &	timeout = `1.0`
	)		`[inline]`

sends a packet to the HLP and blocks until it got acknowledged or until the timeout is reached

Definition at line 150 of file serial_communication.h.

void mav::SerialCommunication::serializePacket	(	uint8_t	packet_id,
		const void *	data,
		const int32_t &	packet_size,
		uint8_t	flag = `0`
	)		`[private]`

Definition at line 305 of file serial_communication.cpp.

bool mav::SerialCommunication::validateChecksum	(	uint8_t *	buf,
		uint32_t	length,
		uint16_t	checksum
	)		`[private]`

Definition at line 166 of file serial_communication.cpp.

bool mav::SerialCommunication::waitForPacketAck	(	uint8_t	ack_id,
		const double &	timeout = `1.0`
	)		`[private]`

Definition at line 327 of file serial_communication.cpp.

Member Data Documentation

bool mav::SerialCommunication::baudrate_change_successful_ [private]

Definition at line 88 of file serial_communication.h.

CommCallbackMap mav::SerialCommunication::callbacks_ [private]

Definition at line 89 of file serial_communication.h.

std::vector<uint8_t> mav::SerialCommunication::packet_acks_ [private]

Definition at line 84 of file serial_communication.h.

SerialPortPtr mav::SerialCommunication::port_rx_ [private]

Definition at line 67 of file serial_communication.h.

std::string mav::SerialCommunication::port_rx_name_ [private]

Definition at line 74 of file serial_communication.h.

SerialPortPtr mav::SerialCommunication::port_tx_ [private]

Definition at line 68 of file serial_communication.h.

std::string mav::SerialCommunication::port_tx_name_ [private]

Definition at line 75 of file serial_communication.h.

uint8_t mav::SerialCommunication::rx_buffer_[256] [private]

Definition at line 81 of file serial_communication.h.

uint32_t mav::SerialCommunication::rx_packet_cnt_ [private]

Definition at line 77 of file serial_communication.h.

uint32_t mav::SerialCommunication::rx_packet_good_cnt_ [private]

Definition at line 78 of file serial_communication.h.

int mav::SerialCommunication::rx_state_ [private]

Definition at line 83 of file serial_communication.h.

boost::asio::deadline_timer mav::SerialCommunication::rx_timeout_ [private]

Definition at line 70 of file serial_communication.h.

bool mav::SerialCommunication::rx_timeout_occurred_ [private]

Definition at line 71 of file serial_communication.h.

uint8_t mav::SerialCommunication::tx_buffer_[256] [private]

Definition at line 80 of file serial_communication.h.

uint32_t mav::SerialCommunication::tx_bytes2send_ [private]

Definition at line 82 of file serial_communication.h.

const int mav::SerialCommunication::TX_HEADER_SIZE [private]

Definition at line 86 of file serial_communication.h.

boost::mutex mav::SerialCommunication::tx_mutex_ [private]

Definition at line 85 of file serial_communication.h.

boost::asio::io_service mav::SerialCommunication::uart_service_ [private]

Definition at line 69 of file serial_communication.h.

boost::thread mav::SerialCommunication::uart_thread_[2] [private]

Definition at line 72 of file serial_communication.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation