Periodic_telemetry Class Reference

Inheritance diagram for Periodic_telemetry:

List of all members.

Classes
struct	conf_t
	Configuration structure. More...
struct	function
	Prototype of telemetry functions. More...
struct	telemetry_entry_t
	MAVLink message handler structure. More...
Public Member Functions
	Periodic_telemetry (Mavlink_stream &mavlink_stream, Mavlink_message_handler &handler, conf_t config=default_config())
	Constructor.
bool	update (void)
	Main update function.
template<typename T >
bool	add (uint32_t task_id, uint32_t repeat_period, typename function< T >::type_t telemetry_function, T *telemetry_module, Scheduler_task::priority_t priority=Scheduler_task::PRIORITY_NORMAL, Scheduler_task::timing_mode_t timing_mode=Scheduler_task::PERIODIC_RELATIVE, Scheduler_task::run_mode_t run_mode=Scheduler_task::RUN_REGULAR)
	Add new telemetry message to the scheduler.
bool	sort (void)
	Sort telemetry items by decreasing priority, then by increasing repeat period.
Static Public Member Functions
static conf_t	default_config (void)
	Default configuration structure.
static void	toggle_telemetry_stream (Periodic_telemetry *scheduler, uint32_t sysid, const mavlink_message_t *msg)
	Toggle mavlink telemetry stream.
Protected Member Functions
virtual uint32_t	max_count (void)=0
	Get maximum number of telemetry messages.
virtual Scheduler &	scheduler (void)=0
	Get reference to scheduler.
virtual telemetry_entry_t *	list (void)=0
	Get pointer to list of telemetry items.

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Constructor & Destructor Documentation

Periodic_telemetry::Periodic_telemetry	(	Mavlink_stream &	mavlink_stream,
		Mavlink_message_handler &	handler,
		conf_t	config = default_config()
	)

Constructor.

Parameters:

mavlink_stream	Stream to which messages will be written
message_handler	MAVLink message handler
config	Configuration structure

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Member Function Documentation

template<typename T >

bool Periodic_telemetry::add	(	uint32_t	task_id,
		uint32_t	repeat_period,
		typename function< T >::type_t	telemetry_function,
		T *	telemetry_module,
		Scheduler_task::priority_t	priority = Scheduler_task::PRIORITY_NORMAL,
		Scheduler_task::timing_mode_t	timing_mode = Scheduler_task::PERIODIC_RELATIVE,
		Scheduler_task::run_mode_t	run_mode = Scheduler_task::RUN_REGULAR
	)

Add new telemetry message to the scheduler.

Template Parameters:

T	Type of the module

Parameters:

task_id	Unique task identifier
repeat_period	Repeat period (us)
telemetry_function	Function pointer to be called
telemetry_module	Argument to be passed to the function
priority	Priority
timing_mode	Timing mode
run_mode	Run mode

Returns:

True if the message was correctly added, false otherwise

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Periodic_telemetry::conf_t Periodic_telemetry::default_config

(

void

)

[inline, static]

Default configuration structure.

Returns:

Config

virtual telemetry_entry_t* Periodic_telemetry::list

(

void

)

[protected, pure virtual]

Get pointer to list of telemetry items.

To be overriden by child class

Returns:

list

Implemented in Periodic_telemetry_T< N >, and Periodic_telemetry_T< N_TELEM >.

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virtual uint32_t Periodic_telemetry::max_count

(

void

)

[protected, pure virtual]

Get maximum number of telemetry messages.

To be overriden by child class

Returns:

Maximum number

Implemented in Periodic_telemetry_T< N >, and Periodic_telemetry_T< N_TELEM >.

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virtual Scheduler& Periodic_telemetry::scheduler

(

void

)

[protected, pure virtual]

Get reference to scheduler.

To be overriden by child class

Returns:

Scheduler

Implemented in Periodic_telemetry_T< N >, and Periodic_telemetry_T< N_TELEM >.

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bool Periodic_telemetry::sort

(

void

)

Sort telemetry items by decreasing priority, then by increasing repeat period.

Returns:

True if the task was successfully sorted, False if not

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void Periodic_telemetry::toggle_telemetry_stream	(	Periodic_telemetry *	scheduler,
		uint32_t	sysid,
		const mavlink_message_t *	msg
	)		[static]

Toggle mavlink telemetry stream.

Parameters:

scheduler	scheduler of the MAV
sysid	MAV sysid
msg	pointer to the stream you want to toggle

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

• /home/travis/build/lis-epfl/MAVRIC_Library/communication/periodic_telemetry.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/communication/periodic_telemetry.cpp
• /home/travis/build/lis-epfl/MAVRIC_Library/communication/periodic_telemetry.hxx