Transports::Radio::Telemetry Class Reference

Detailed Description

This class is a communication manager for telemetry.

Author

João Teixeira

Public Member Functions
	Telemetry (Tasks::Task *task, uint8_t system, MapName radio_names, MapAddr radio_addrs)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::VehicleState *msg)
void	consume (const IMC::PlanControlState *msg)
void	consume (const IMC::FuelLevel *msg)
void	consume (const IMC::Voltage *msg)
void	consume (const IMC::IndicatedSpeed *msg)
void	consume (const IMC::VtolState *msg)
void	consume (const IMC::TelemetryMsg *msg)
void	updateTxSync (void)
void	updateRxSync (int value=-1)
bool	isIdle (void)
void	createReport (void)
bool	reportDecode (XxMesg &rxmsg)
void	recivedDataTimeOut ()
void	recivedDataToDecode (std::string &rxData)
bool	anyDataToProcess (void)
bool	buzyStateMachine (std::string &txData)
void	sendAKtoRXMsg (void)
int	anyDatatosend (std::string &txData)
void	updateTxState ()
void	recvImcMessage (XxMesg &rxmsg)
unsigned	lookupSystemAddress (const std::string &name, unsigned &adrr)
std::string	lookupSystemName (unsigned addr)
std::string	safeLookup (unsigned addr)

Constructor & Destructor Documentation

Transports::Radio::Telemetry::Telemetry ( Tasks::Task *  task, uint8_t  system, MapName  radio_names, MapAddr  radio_addrs  )

inline

Constructor.

References Transports::Radio::MSG_SEND, and Transports::Radio::XxMesg::state.

Member Function Documentation

bool Transports::Radio::Telemetry::anyDataToProcess ( void  )

inline

References Transports::Radio::XxMesg::acknowledge, Transports::Radio::XxMesg::code, Transports::Radio::CODE_AK, Transports::Radio::CODE_IMC, Transports::Radio::CODE_REPORT, Transports::Radio::IDLE, Transports::Radio::MSG_AK, Transports::Radio::MSG_PROCESSED, recvImcMessage(), reportDecode(), sendAKtoRXMsg(), Transports::Radio::XxMesg::state, Transports::Radio::XxMesg::sync, and Transports::Radio::XxMesg::telemetry_imc_status.

Referenced by Transports::Radio::Task::onMain().

int Transports::Radio::Telemetry::anyDatatosend ( std::string &  txData )

inline

References Transports::Radio::XxMesg::acknowledge, Transports::Radio::BUZY, buzyStateMachine(), Transports::Radio::XxMesg::code, Transports::Radio::XxMesg::des_id, Transports::Radio::XxMesg::error, Transports::Radio::XxMesg::error_msg, Transports::Radio::IDLE, Transports::Radio::XxMesg::msg, Transports::Radio::MSG_AK, Transports::Radio::XxMesg::msg_compl, Transports::Radio::MSG_ERROR, Transports::Radio::MSG_NAK, Transports::Radio::MSG_SEND, Transports::Radio::XxMesg::n_parts, Transports::Radio::XxMesg::npart, Transports::Radio::XxMesg::src_id, Transports::Radio::XxMesg::start_part, Transports::Radio::XxMesg::state, Transports::Radio::XxMesg::str_header, and Transports::Radio::XxMesg::sync.

Referenced by Transports::Radio::Task::onMain().

bool Transports::Radio::Telemetry::buzyStateMachine ( std::string &  txData )

inline

References Transports::Radio::XxMesg::acknowledge, Transports::Radio::XxMesg::encodeHeader(), Transports::Radio::IDLE, Transports::Radio::XxMesg::msg, Transports::Radio::MSG_IN_PARTS, Transports::Radio::XxMesg::msg_multi_timer, Transports::Radio::MSG_NAK, Transports::Radio::MSG_SEND, Transports::Radio::XxMesg::msg_timer, Transports::Radio::XxMesg::n_parts, Transports::Radio::XxMesg::n_parts_status, Transports::Radio::XxMesg::state, Transports::Radio::XxMesg::str_header, Transports::Radio::XxMesg::telemetry_imc_status, updateTxSync(), and Transports::Radio::WAITING_ACKN.

Referenced by anyDatatosend().

void Transports::Radio::Telemetry::consume ( const IMC::EstimatedState *  msg )

inline

Consume Estimated State messages.

Parameters

[in]

msg

EstimatedState message.

References Transports::Radio::RepotImcData::estate.

Referenced by Transports::Radio::Task::consume().

void Transports::Radio::Telemetry::consume ( const IMC::VehicleState *  msg )

inline

Consume VehicleState messages.

Parameters

[in]

msg

VehicleState message.

References Transports::Radio::RepotImcData::vehicle_state.

void Transports::Radio::Telemetry::consume ( const IMC::PlanControlState *  msg )

inline

Consume Plan Control State messages.

Parameters

[in]

msg

PlanControlState message.

References Transports::Radio::RepotImcData::plan_progress.

void Transports::Radio::Telemetry::consume ( const IMC::FuelLevel *  msg )

inline

Consume Fuel Level messages.

Parameters

[in]

msg

FuelLevel message.

References Transports::Radio::RepotImcData::fuel_level.

void Transports::Radio::Telemetry::consume ( const IMC::Voltage *  msg )

inline

References Transports::Radio::RepotImcData::batt_voltage.

void Transports::Radio::Telemetry::consume ( const IMC::IndicatedSpeed *  msg )

inline

Consume air Speed messages.

Parameters

[in]

msg

IndicatedSpeed message.

References Transports::Radio::RepotImcData::air_speed.

void Transports::Radio::Telemetry::consume ( const IMC::VtolState *  msg )

inline

References Transports::Radio::RepotImcData::vtolstate.

void Transports::Radio::Telemetry::consume ( const IMC::TelemetryMsg *  msg )

inline

Consume TelemetryMsg messages.

Parameters

[in]

msg

TelemetryMsg message.

References Transports::Radio::XxMesg::encodeHeader(), Transports::Radio::XxMesg::imc_to_tx_msg(), lookupSystemAddress(), Transports::Radio::XxMesg::telemetry_imc_status, and updateTxSync().

void Transports::Radio::Telemetry::createReport ( void  )

inline

References Transports::Radio::RepotImcData::air_speed, Transports::Radio::Report::air_speed, Transports::Radio::Report::alt, Transports::Radio::RepotImcData::batt_voltage, Transports::Radio::CODE_REPORT, Transports::Radio::Report::depth, Transports::Radio::XxMesg::encodeHeader(), Transports::Radio::RepotImcData::estate, Transports::Radio::Report::fuel_conf, Transports::Radio::RepotImcData::fuel_level, Transports::Radio::Report::fuel_level, Transports::Radio::Report::height, Transports::Radio::Report::lat, Transports::Radio::Report::lon, Transports::Radio::XxMesg::msg, Transports::Radio::MSG_QUEUE, Transports::Radio::Report::pitch, Transports::Radio::RepotImcData::plan_progress, Transports::Radio::Report::progress, Transports::Radio::Report::roll, Transports::Radio::XxMesg::setMsgData(), Transports::Radio::XxMesg::state, Transports::Radio::XxMesg::telemetry_imc_status, updateTxSync(), Transports::Radio::RepotImcData::vehicle_state, Transports::Radio::Report::vehicle_state, Transports::Radio::Report::vehicle_state_ent, Transports::Radio::Report::voltage, Transports::Radio::RepotImcData::vtolstate, Transports::Radio::Report::vtolstate, and Transports::Radio::Report::yaw.

Referenced by Transports::Radio::Task::radioReport().

bool Transports::Radio::Telemetry::isIdle ( void  )

inline

verifies if TX channel is busy

References Transports::Radio::IDLE.

Referenced by Transports::Radio::Task::radioReport().

unsigned Transports::Radio::Telemetry::lookupSystemAddress ( const std::string &  name, unsigned &  adrr  )

inline

Referenced by consume().

std::string Transports::Radio::Telemetry::lookupSystemName ( unsigned  addr )

inline

Referenced by safeLookup().

void Transports::Radio::Telemetry::recivedDataTimeOut ( )

inline

References Transports::Radio::XxMesg::clear(), Transports::Radio::MSG_IN_PARTS, Transports::Radio::XxMesg::msg_timer, and Transports::Radio::XxMesg::state.

Referenced by Transports::Radio::Task::onMain().

void Transports::Radio::Telemetry::recivedDataToDecode ( std::string &  rxData )

inline

References Transports::Radio::XxMesg::acknowledge, Transports::Radio::XxMesg::clear(), Transports::Radio::XxMesg::code, Transports::Radio::XxMesg::decodeHeader(), Transports::Radio::XxMesg::des_id, Transports::Radio::XxMesg::error_msg, Transports::Radio::XxMesg::msg, Transports::Radio::MSG_IN_PARTS, Transports::Radio::MSG_IN_PARTS_ERR, Transports::Radio::XxMesg::n_parts, Transports::Radio::XxMesg::n_parts_end_sync, Transports::Radio::XxMesg::npart, Transports::Radio::XxMesg::src_id, Transports::Radio::XxMesg::start_part, Transports::Radio::XxMesg::state, Transports::Radio::XxMesg::sync, Transports::Radio::XxMesg::testDecodeHeader(), and updateRxSync().

Referenced by Transports::Radio::Task::onMain().

void Transports::Radio::Telemetry::recvImcMessage ( XxMesg &  rxmsg )

inline

References Transports::Radio::XxMesg::des_id, Transports::Radio::XxMesg::msg, Transports::Radio::MSG_ERROR, Transports::Radio::MSG_PROCESSED, safeLookup(), Transports::Radio::XxMesg::src_id, Transports::Radio::XxMesg::state, Transports::Radio::XxMesg::telemetry_imc_status, and Transports::Radio::XxMesg::timestamp.

Referenced by anyDataToProcess().

bool Transports::Radio::Telemetry::reportDecode ( XxMesg &  rxmsg )

inline

References Transports::Radio::RepotImcData::air_speed, Transports::Radio::Report::air_speed, Transports::Radio::Report::alt, Transports::Radio::RepotImcData::batt_voltage, Transports::Radio::Report::depth, Transports::Radio::RepotImcData::estate, Transports::Radio::Report::fuel_conf, Transports::Radio::RepotImcData::fuel_level, Transports::Radio::Report::fuel_level, Transports::Radio::Report::height, Transports::Radio::Report::lat, Transports::Radio::Report::lon, Transports::Radio::XxMesg::msg, Transports::Radio::MSG_ERROR, Transports::Radio::MSG_PROCESSED, Transports::Radio::Report::pitch, Transports::Radio::RepotImcData::plan_progress, Transports::Radio::Report::progress, Transports::Radio::Report::roll, safeLookup(), Transports::Radio::XxMesg::src_id, Transports::Radio::XxMesg::state, Transports::Radio::RepotImcData::vehicle_state, Transports::Radio::Report::vehicle_state, Transports::Radio::Report::vehicle_state_ent, Transports::Radio::Report::voltage, Transports::Radio::RepotImcData::vtolstate, Transports::Radio::Report::vtolstate, and Transports::Radio::Report::yaw.

Referenced by anyDataToProcess().

std::string Transports::Radio::Telemetry::safeLookup ( unsigned  addr )

inline

References lookupSystemName().

Referenced by recvImcMessage(), and reportDecode().

void Transports::Radio::Telemetry::sendAKtoRXMsg ( void  )

inline

References Transports::Radio::CODE_AK, Transports::Radio::XxMesg::encodeHeader(), Transports::Radio::MSG_QUEUE, Transports::Radio::XxMesg::src_id, Transports::Radio::XxMesg::state, Transports::Radio::XxMesg::str_header, and Transports::Radio::XxMesg::sync.

Referenced by anyDataToProcess().

void Transports::Radio::Telemetry::updateRxSync ( int  value = -1 )

inline

update the local Rx synchronization number to detect data loss

Referenced by recivedDataToDecode().

void Transports::Radio::Telemetry::updateTxState ( )

inline

References Transports::Radio::XxMesg::acknowledge, Transports::Radio::MSG_IN_PARTS, Transports::Radio::MSG_QUEUE, Transports::Radio::MSG_SEND, Transports::Radio::XxMesg::npart, Transports::Radio::XxMesg::state, Transports::Radio::XxMesg::telemetry_imc_status, and Transports::Radio::WAITING_ACKN.

Referenced by Transports::Radio::Task::onMain().

void Transports::Radio::Telemetry::updateTxSync ( void  )

inline

update the Tx synchronization number

Referenced by buzyStateMachine(), consume(), and createReport().

Collaboration diagram for Transports::Radio::Telemetry: