Worked on improving clarity via naming & small updates

TelemetryManager/Inc/CircularBuffer.hpp

@@ -32,27 +32,26 @@ class CircularBuffer {
  */
  ~CircularBuffer();
 
- public:
  /**
  * @brief Provides the number of bytes available in the queue
  *
  * @return int The number of bytes available in the queue.
  */
- virtual int remainingMemory();
+ int remainingMemory();
 
  /**
  * @brief Dequeue a byte from the queue
  *
  * @return MAVLinkByte The byte that was dequeued
  */
- virtual MAVLinkByte dequeue();
+ MAVLinkByte dequeue();
 
  /**
  * @brief Enqueue a byte into the queue
  *
  * @param byte The byte to be enqueued
  */
- virtual void enqueue(MAVLinkByte byte);
+ void enqueue(MAVLinkByte byte);
 
  /**
  * @brief Get the index of the last full message in the queue determined by the end flag
@@ -65,7 +64,7 @@ class CircularBuffer {
  * in the MAVLink message. 
  * 
  */
- virtual int lastFullMessageEndIndex();
+ int lastFullMessageEndIndex();
 
 /**
  * @brief Returns the index of the current byte in the queue. This is useful for when we want to 
@@ -75,7 +74,7 @@ class CircularBuffer {
  * 
  * @return int The index of the current byte in the queue.
  */
- virtual int currentIndex();
+ int currentIndex();
 };
 
 #endif

TelemetryManager/Inc/GroundStationComms.hpp → TelemetryManager/Inc/GroundStationCommunication.hpp

@@ -1,20 +1,20 @@
 /**
- * @file GroundStationComms.hpp
+ * @file GroundStationCommunication.hpp
  * @brief What does this file do?
  *
  * @note Anything future maintainers should know about this file?
  *
  * @version 1.0
  * @date 2023-08-24
  * @author Yarema Dzulynsky: initial structure
- * @author Hunter Adams: implementation
+ * @author Roni Kant: implementation
  * 
  * @warning Any issues you think are important/foresee in the future?
  */
 
 #include "CircularBuffer.hpp"
-#ifndef GROUNDSTATIONCOMMS_H
-#define GROUNDSTATIONCOMMS_H
+#ifndef GROUNDSTATIONCOMMUNICATION_H
+#define GROUNDSTATIONCOMMUNICATION_H
 
 /**
  * @brief This class is responsible for handling the communication between the ground station
@@ -23,26 +23,25 @@
  * because it allows us to define the behaviour of the RFD 900 send/receive function before its
  * implementation.
  */
-class GroundStationComms {
+class GroundStationCommunication {
  public:
  /**
- * @brief Construct a new Ground Station Comms object. Do whatever needs to be done here.
+ * @brief Construct a new Ground Station Communication object. Do whatever needs to be done here.
  *
  */
- GroundStationComms();
- ~GroundStationComms();
+ GroundStationCommunication();
+ ~GroundStationCommunication();
 
- public:
  /*
  * When the DMA interrupt is triggered the data should be stored in the DMAReceiveBuffer
  * IF there is space.
  */
  CircularBuffer DMAReceiveBuffer;
 
- // low priority Mavlink bytes to be sent to the ground station.
+ // low priority/Non routine Mavlink bytes to be sent to the ground station.
  CircularBuffer lowPriorityTransmitBuffer;
 
- // high priority Mavlink bytes to be sent to the ground station.
+ // high priority/Routine Mavlink bytes to be sent to the ground station.
  CircularBuffer highPriorityTransmitBuffer;
 
  /**
@@ -57,14 +56,14 @@ class GroundStationComms {
  * @param transmissionBuffer A CircularBuffer containing the data/MAVLink bytes to be sent
  * to the ground station
  */
- virtual void sendToGroundStation(CircularBuffer &transmissionBuffer);
+ void transmit(CircularBuffer &transmissionBuffer);
 
  /**
  * @brief This is the Interrupt Service Routine (ISR) for when the RFD 900 receives data from
  * the ground station and stores bytes from the transmission into the GSC.DMAReceiveBuffer if
  * there is space. Otherwise the data is discarded.
  */
- virtual void receiveFromGroundStationISR();
+ void receiveInterruptServiceRoutine();
 };
 
 #endif // GROUNDSTATIONCOMMS_H

TelemetryManager/Inc/MavlinkTranslator.hpp

@@ -31,15 +31,14 @@ class MavlinkTranslator {
  */
  ~MavlinkTranslator();
 
- public:
  /**
  * @brief Ingests bytes from the rxFromGroundByteQueue and converts them to Mavlink messages.
  * The Mavlink message, associated callbacks are then triggered.
  *
  * @param rxFromGroundByteQueue The CircularBuffer containing the bytes received from the ground
  * station. waiting to be decoded.
  */
- virtual void bytesToMavlinkMsg(CircularBuffer &rxFromGroundByteQueue);
+ void bytesToMavlinkMsg(CircularBuffer &rxFromGroundByteQueue);
 
  /**
  * @brief Converts Mavlink messages to bytes and adds them to the txToGroundByteQueue.
@@ -48,7 +47,7 @@ class MavlinkTranslator {
  * @param txToGroundByteQueue The CircularBuffer containing the bytes to be sent to the ground
  * station.
  */
- virtual void addMavlinkMsgToByteQueue(mavlink_message_t &msg,
+ void addMavlinkMsgToByteQueue(mavlink_message_t &msg,
  CircularBuffer &txToGroundByteQueue);
 };
 

TelemetryManager/Inc/TelemetryManager.hpp

@@ -0,0 +1,61 @@
+/**
+ * @file TelemetryManager.hpp
+ * @brief What does this file do?
+ *
+ * @note Anything future maintainers should know about this file?
+ *
+ * @version 1.0
+ * @date 2023-08-24
+ * @author Yarema Dzulynsky: initial structure & Implementation
+ *
+ * @warning Any issues you think are important/foresee in the future?
+ */
+
+#ifndef TELEMETRYMANAGER_H
+#define TELEMETRYMANAGER_H
+
+#include "GroundStationCommunication.hpp"
+#include "MavlinkTranslator.hpp"
+#include "TelemetryTask.hpp"
+
+class TelemetryManager {
+
+ public:
+ /**
+ * @brief Construct a new Telemetry Manager object. Does not initialize the tasks. 
+ * To do so call the init() method.
+ */
+ TelemetryManager();
+ ~TelemetryManager();
+
+ GroundStationCommunication GSC;
+ MavlinkTranslator MT;
+
+ /**
+ * @brief Initialize TM.
+ *
+ */
+ void init();
+
+ /**
+ * @brief This method is responsible for
+ * sending non routine data to the ground station. Such as arm disarmed message status,
+ * fulfilling data requests from the ground station etc. This is the lowest priority data
+ * in the GSC.lowPriorityTransmitBuffer.
+ */
+ void transmitNonRoutineData();
+
+ /**
+ * @brief Create and configure FreeRTOS tasks.
+ *
+ */
+ void spinUpTasks();
+
+ /**
+ * @brief Destroy FreeRTOS tasks and free up memory.
+ * 
+ */
+ void teardownTasks();
+};
+
+#endif

TelemetryManager/Inc/TimerInterrupt.hpp → TelemetryManager/Inc/TelemetryTask.hpp

@@ -1,5 +1,5 @@
 /**
- * @file TimerInterrupt.hpp
+ * @file TelemetryTask.hpp
  * @brief What does this file do?
  *
  * @note Anything future maintainers should know about this file?
@@ -8,21 +8,20 @@
  * @version 1.0
  * @date 2023-08-24
  * @author Yarema Dzulynsky: initial structure & implementation
- * @author Rahul Ramkumar: implementation
  * @author Derek Tang: implementation
  *
  * @warning Any issues you think are important/foresee in the future?
  */
 
-#include <functional>
 
+#include "TelemetryManager.hpp"
+#include <functional>
 #include "FreeRTOS.h"
-#include "TM.hpp"
 #include "task.h"
-#ifndef TIMERINTURUPT_H
-#define TIMERINTURUPT_H
+#ifndef TELEMETRYTASK_H
+#define TELEMETRYTASK_H
 
-class TimerInterrupt {
+class TelemetryTask {
  // Simple alias for a lambda function that takes a TelemetryManager reference as an argument.
  using Callback = std::function<void(TelemetryManager&)>;
 
@@ -36,39 +35,32 @@ class TimerInterrupt {
  TaskHandle_t xHandle;
 
  /**
- * @brief Construct a new Timer Interrupt object which will call the given lambda function
- * at the given interval. This is an abstraction of the software timer interrupt functionality
- * in FreeRTOS. This will allow easier scheduling of data transfer or any TM tasks which need
- * to happen at a regular interval.
+ * @brief Construct a new Timer TelemetryTask object which will call the given lambda function
+ * at the given interval. This will allow easier scheduling of data transfer or any TM tasks which need
+ * to happen at a regular interval with FreeRTOS.
  *
  * @param taskName - The name of the task.
  * @param stackSize - The size of the stack for the task.
  * @param uxPriority - The priority of the task.
- * @param intervalMs - The time interval in milliseconds at which the interrupt should be
- * triggered.
  * @param tm - The TelemetryManager object.
  * @param cbLambda - The callback function to be called when the timer interrupt is triggered.
  */
- TimerInterrupt(const char* taskName, int stackSize, UBaseType_t uxPriority,
- TickType_t intervalMs, TelemetryManager& tm, Callback cbLambda);
+ TelemetryTask(const char* taskName, int stackSize, UBaseType_t uxPriority, TelemetryManager& tm, Callback cbLambda);
 
  /**
  * @brief Destroy the Timer Interrupt object.
  *
  */
- ~TimerInterrupt();
+ ~TelemetryTask();
 
  /**
  * @brief This is essentially a compatibility/wrapper function that allows us to use a lambda
  * function which has a class instance as an argument as a callback for the timer interrupt. 
  * This allows us to access TM within the lambda function. 
  *
- * @param pvParameters - The TimerInterrupt object.
+ * @param pvParameters - The TelemetryTask object.
  */
- static void TaskTrampoline(void* pvParameters) {
- auto* context = static_cast<TimerInterrupt*>(pvParameters);
- context->cbLambda(context->tm);
- }
+ static void TaskTrampoline(void* pvParameters);
 };
 
 #endif