Boardcore::MavlinkDriver< PktLength, OutQueueSize, MavMsgLength > Class Template Reference

The MavlinkDriver object offers an interface to send and receive from a Transceiver object using an implementation of the Mavlink protocol. More...

#include <MavlinkDriver.h>

Public Member Functions
	MavlinkDriver (Transceiver *device, MavHandler onReceive=nullptr, uint16_t sleepAfterSend=0, size_t outBufferMaxAge=1000)
	Initializes all data structures.
bool	start ()
	Start the receiving and sending threads.
bool	isStarted ()
	Tells whether the driver was started.
void	stop ()
	Stops sender and receiver threads.
bool	enqueueMsg (const mavlink_message_t &msg)
	Non-blocking send function, puts the message in a queue. Message is discarded if the queue is full.
bool	enqueueRaw (uint8_t *msg, size_t size)
	Enqueue a raw packet message into the sync packet queue.
MavlinkStatus	getStatus ()
	Synchronized status getter.
void	setSleepAfterSend (uint16_t newSleepTime)
	Setter for the sleep after send value.

Detailed Description

template<unsigned int PktLength, unsigned int OutQueueSize, unsigned int MavMsgLength = MAVLINK_MAX_PAYLOAD_LEN>
class Boardcore::MavlinkDriver< PktLength, OutQueueSize, MavMsgLength >

The MavlinkDriver object offers an interface to send and receive from a Transceiver object using an implementation of the Mavlink protocol.

See src/tests/drivers/test-mavlink.cpp for an example.

Template Parameters

PktLength	Maximum length in bytes of each transceiver packet.
OutQueueSize	Max number of transceiver packets in the output queue.
MavMsgLength	Max length of a mavlink message. By default is 255 the maximum possible but can be replaces with MAVLINK_MAX_DIALECT_PAYLOAD_SIZE for a specific protocol.

Definition at line 66 of file MavlinkDriver.h.

Constructor & Destructor Documentation

MavlinkDriver()

template<unsigned int PktLength, unsigned int OutQueueSize, unsigned int MavMsgLength>

Boardcore::MavlinkDriver< PktLength, OutQueueSize, MavMsgLength >::MavlinkDriver	(	Transceiver *	device,
		MavHandler	onReceive = nullptr,
		uint16_t	sleepAfterSend = 0,
		size_t	outBufferMaxAge = 1000 )

Initializes all data structures.

Parameters

device	Transceiver used to send and receive messages.
onReceive	Function to be executed on message rcv.
sleepAfterSend	Guaranteed sleep time after each send [ms].
outBufferMaxAge	Max residence time for messages in the queue: after this time the message will be automatically sent [ms].

Definition at line 205 of file MavlinkDriver.h.

Member Function Documentation

enqueueMsg()

template<unsigned int PktLength, unsigned int OutQueueSize, unsigned int MavMsgLength>

bool Boardcore::MavlinkDriver< PktLength, OutQueueSize, MavMsgLength >::enqueueMsg

(

const mavlink_message_t &

msg

)

Non-blocking send function, puts the message in a queue. Message is discarded if the queue is full.

Parameters

msg	Message to send (mavlink struct).

Returns

True if the message could be enqueued.

Definition at line 271 of file MavlinkDriver.h.

enqueueRaw()

template<unsigned int PktLength, unsigned int OutQueueSize, unsigned int MavMsgLength>

bool Boardcore::MavlinkDriver< PktLength, OutQueueSize, MavMsgLength >::enqueueRaw	(	uint8_t *	msg,
		size_t	size )

Enqueue a raw packet message into the sync packet queue.

Parameters

msg	Message to send.
size	Length in bytes.

Returns

True if the message was enqueued.

Definition at line 290 of file MavlinkDriver.h.

getStatus()

template<unsigned int PktLength, unsigned int OutQueueSize, unsigned int MavMsgLength>

MavlinkStatus Boardcore::MavlinkDriver< PktLength, OutQueueSize, MavMsgLength >::getStatus

(

)

Synchronized status getter.

Definition at line 433 of file MavlinkDriver.h.

isStarted()

template<unsigned int PktLength, unsigned int OutQueueSize, unsigned int MavMsgLength>

bool Boardcore::MavlinkDriver< PktLength, OutQueueSize, MavMsgLength >::isStarted

(

)

Tells whether the driver was started.

Definition at line 254 of file MavlinkDriver.h.

setSleepAfterSend()

template<unsigned int PktLength, unsigned int OutQueueSize, unsigned int MavMsgLength>

void Boardcore::MavlinkDriver< PktLength, OutQueueSize, MavMsgLength >::setSleepAfterSend

(

uint16_t

newSleepTime

)

Setter for the sleep after send value.

Definition at line 442 of file MavlinkDriver.h.

start()

template<unsigned int PktLength, unsigned int OutQueueSize, unsigned int MavMsgLength>

bool Boardcore::MavlinkDriver< PktLength, OutQueueSize, MavMsgLength >::start

(

)

Start the receiving and sending threads.

Returns

False if at least one could not start.

Definition at line 216 of file MavlinkDriver.h.

stop()

template<unsigned int PktLength, unsigned int OutQueueSize, unsigned int MavMsgLength>

void Boardcore::MavlinkDriver< PktLength, OutQueueSize, MavMsgLength >::stop

(

)

Stops sender and receiver threads.

Definition at line 261 of file MavlinkDriver.h.

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

• src/shared/radio/MavlinkDriver/MavlinkDriver.h