#include <Client.hpp>

Public Member Functions
	Client ()
void	connect (const std::string &device, const uint baudrate=115200)
	connect establish connection to serial device
SubscriptionBase *	getSubscription (const msp::ID &id)
	getSubscription get pointer to subscription
bool	hasSubscription (const msp::ID &id)
	hasSubscription check if message ID is subscribed
void	processOneMessage ()
uint8_t	read ()
	read blocking read a single byte from either the buffer or the serial device
int	request (msp::Request &request, const double timeout=0)
	request requests payload from FC and block until payload has been received
int	request_raw (const uint8_t id, ByteVector &data, const double timeout=0)
	request_raw request raw unstructured payload data
bool	respond (const msp::Response &response, const bool wait_ack=true)
	respond send payload to FC and block until an ACK has been received
bool	respond_raw (const uint8_t id, const ByteVector &data, const bool wait_ack=true)
	respond_raw send raw unstructured payload data
bool	sendData (const uint8_t id, const ByteVector &data=ByteVector(0))
	sendData send raw data and ID to flight controller, accepts any uint8 id
bool	sendRequest (const uint8_t id)
	sendRequest request payload from FC
bool	sendRequest (const msp::ID id)
bool	sendResponse (const msp::Response &response)
	sendResponse send payload to FC
void	setPrintWarnings (const bool warnings)
void	start ()
	start starts the receiver thread that handles incomming messages
void	stop ()
	stop stops the receiver thread
template<typename T , typename C >
SubscriptionBase *	subscribe (void(C::callback)(const T &), C context, const double tp=0.0)
	subscribe register callback function that is called when type is received
void	waitForOneMessage ()
	waitForOneMessage block until one message has been received
void	waitForOneMessageBlock ()
	~Client ()
Private Member Functions
uint8_t	crc (const uint8_t id, const ByteVector &data)
	crc compute checksum of data package
Private Attributes
asio::streambuf	buffer
std::condition_variable	cv_ack
std::condition_variable	cv_request
asio::io_service	io
std::mutex	mutex_buffer
std::mutex	mutex_callbacks
std::mutex	mutex_cv_ack
std::mutex	mutex_cv_request
std::mutex	mutex_request
std::mutex	mutex_send
asio::serial_port	port
bool	print_warnings
std::unique_ptr< ReceivedMessage >	request_received
bool	running
std::map< msp::ID, msp::Request * >	subscribed_requests
std::map< msp::ID, SubscriptionBase * >	subscriptions
std::thread	thread

Detailed Description

Definition at line 133 of file Client.hpp.

Constructor & Destructor Documentation

msp::client::Client::Client ( )

Definition at line 49 of file Client.cpp.

msp::client::Client::~Client ( )

Definition at line 51 of file Client.cpp.

Member Function Documentation

void msp::client::Client::connect	(	const std::string &	device,
		const uint	baudrate = `115200`
	)

connect establish connection to serial device

Parameters:

device	path or name of serial device
baudrate	serial baudrate (default: 115200)

Returns:: true on success

Definition at line 59 of file Client.cpp.

uint8_t msp::client::Client::crc	(	const uint8_t	id,
		const ByteVector &	data
	)		`[private]`

crc compute checksum of data package

Parameters:

id	message ID
data	raw data vector

Returns:: checksum

Definition at line 168 of file Client.cpp.

SubscriptionBase* msp::client::Client::getSubscription ( const msp::ID & id ) [inline]

getSubscription get pointer to subscription

Parameters:

id	message ID

Returns:: pointer to subscription

Definition at line 297 of file Client.hpp.

bool msp::client::Client::hasSubscription ( const msp::ID & id ) [inline]

hasSubscription check if message ID is subscribed

Parameters:

id	message ID

Returns:: true if there is already a subscription; false if ID is not subscribed

Definition at line 288 of file Client.hpp.

void msp::client::Client::processOneMessage ( )

Definition at line 174 of file Client.cpp.

uint8_t msp::client::Client::read ( )

read blocking read a single byte from either the buffer or the serial device

Returns:: byte from buffer or device

Definition at line 81 of file Client.cpp.

int msp::client::Client::request	(	msp::Request &	request,
		const double	timeout = `0`
	)

request requests payload from FC and block until payload has been received

Parameters:

request	request whose data will be set by the received payload
timeout	(optional) timeout in seconds

Returns:: true on success; false on failure; -1 on timeout

Definition at line 105 of file Client.cpp.

int msp::client::Client::request_raw	(	const uint8_t	id,
		ByteVector &	data,
		const double	timeout = `0`
	)

request_raw request raw unstructured payload data

Parameters:

id	message ID
data	reference to data buffer at which the received data will be stores
timeout	(optional) timeout in seconds

Returns:: 1 on success; 0 on failure; -1 on timeout

Definition at line 112 of file Client.cpp.

bool msp::client::Client::respond	(	const msp::Response &	response,
		const bool	wait_ack = `true`
	)

respond send payload to FC and block until an ACK has been received

Parameters:

response	response with payload
wait_ack	if set, method will wait for message acknowledgement

Returns:: true on success; false on failure

Definition at line 141 of file Client.cpp.

bool msp::client::Client::respond_raw	(	const uint8_t	id,
		const ByteVector &	data,
		const bool	wait_ack = `true`
	)

respond_raw send raw unstructured payload data

Parameters:

id	message ID
data	raw payload
wait_ack	if set, method will wait for message acknowledgement

Returns:: true on success; false on failure

Definition at line 145 of file Client.cpp.

bool msp::client::Client::sendData	(	const uint8_t	id,
		const ByteVector &	data = `ByteVector(0)`
	)

sendData send raw data and ID to flight controller, accepts any uint8 id

Parameters:

id	message ID
data	raw data

Returns:: true on success; false on failure

Definition at line 89 of file Client.cpp.

bool msp::client::Client::sendRequest ( const uint8_t id ) [inline]

sendRequest request payload from FC

Parameters:

id	message ID

Returns:: true on success; false on failure

Definition at line 189 of file Client.hpp.

bool msp::client::Client::sendRequest ( const msp::ID id ) [inline]

Definition at line 193 of file Client.hpp.

bool msp::client::Client::sendResponse ( const msp::Response & response ) [inline]

sendResponse send payload to FC

Parameters:

response response with payload

Returns:: true on success; false on failure

Definition at line 203 of file Client.hpp.

void msp::client::Client::setPrintWarnings ( const bool warnings ) [inline]

Definition at line 139 of file Client.hpp.

void msp::client::Client::start ( )

start starts the receiver thread that handles incomming messages

Definition at line 68 of file Client.cpp.

void msp::client::Client::stop ( )

stop stops the receiver thread

Definition at line 75 of file Client.cpp.

template<typename T , typename C >

SubscriptionBase* msp::client::Client::subscribe	(	void(C::*)(const T &)	callback,
		C *	context,
		const double	tp = `0.0`
	)		`[inline]`

subscribe register callback function that is called when type is received

Parameters:

callback	pointer to callback function (class method)
context	class with callback method
tp	period at a timer will send subscribed requests (in seconds), by default this is 0 and requests are not sent periodically