Dependency Injection for GroundStationCommunication

SystemManager/Src/SystemManager.cpp

@@ -11,7 +11,8 @@
 #include "sbus_defines.h"
 #include "sbus_receiver.hpp"
 #include "tim.h"
-
+#include "GroundStationCommunication.hpp"
+#include "TelemetryManager.hpp"
 
 #define TIMEOUT_CYCLES 250000 // 25k = 1 sec fro testing 10/14/2023 => 250k = 10 sec
 #define TIMOUT_MS 10000 // 10 sec
@@ -33,27 +34,66 @@ SystemManager::SystemManager()
  // VARIABLES FOR TELEMETRY MANAGER TO HAVE AS REFERENCES THEY OBV SHOULD BE PUT SOMEWHERE ELSE,
  // BUT I FEEL LIKE SM PM WOULD KNOW WHERE. MAYBE IN THE HPP FILE? IDK HOW YOU ARE PLANNING ON
  // GATHERING THE DATA. I JUST PUT THEM HERE FOR NOW
+
+ // Struct containing the state of the drone
+ StateData stateData;
+
+ // values to be assigned to stateData
+ int32_t alt = 0;
  int32_t lat = 0;
  int32_t lon = 0;
- int32_t alt = 0;
  int32_t relative_alt = 0;
  int16_t vx = 0;
  int16_t vy = 0;
  int16_t vz = 0;
  uint16_t hdg = 0;
  int32_t time_boot_ms = 0;
- MAV_STATE state = MAV_STATE::MAV_STATE_STANDBY;
- MAV_MODE_FLAG mode = MAV_MODE_FLAG::MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
  float roll = 0;
  float pitch = 0;
  float yaw = 0;
  float rollspeed = 0;
  float pitchspeed = 0;
  float yawspeed = 0;
 
- this->telemetryManager =
- new TelemetryManager(lat, lon, alt, relative_alt, vx, vy, vz, hdg, time_boot_ms, state,
- mode, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed);
+ // use the memory address of the above, since stateData uses pointers
+ stateData.alt = &alt;
+ stateData.lat = ⪫
+ stateData.lon = &lon;
+ stateData.relative_alt = &relative_alt;
+ stateData.vx = &vx;
+ stateData.vy = &vy;
+ stateData.vz = &vz;
+ stateData.hdg = &hdg;
+ stateData.time_boot_ms = &time_boot_ms;
+ stateData.roll = &roll;
+ stateData.pitch = &pitch;
+ stateData.yaw = &yaw;
+ stateData.rollspeed = &rollspeed;
+ stateData.pitchspeed = &pitchspeed;
+ stateData.yawspeed = &yawspeed;
+
+ MAV_STATE state = MAV_STATE::MAV_STATE_STANDBY;
+ MAV_MODE_FLAG mode = MAV_MODE_FLAG::MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+
+ // Creating parameters for the GroundStationCommunication that will be passed to telemetryManager
+ TMCircularBuffer DMAReceiveBuffer = *(new TMCircularBuffer(rfd900_circular_buffer));
+
+
+ // the buffer that stores non_routine/low_priority bytes (ex. Battery Voltage) to be sent to the
+ // ground station.
+ uint8_t* lowPriorityTransmitBuffer = new uint8_t[RFD900_BUF_SIZE];
+
+ // the buffer that stores routine/high_priority bytes (ex. heading, general state data) to be
+ // sent to the ground station.
+ uint8_t* highPriorityTransmitBuffer = new uint8_t[RFD900_BUF_SIZE];
+
+ GroundStationCommunication GSC = *(new GroundStationCommunication(DMAReceiveBuffer, lowPriorityTransmitBuffer, 
+ highPriorityTransmitBuffer, RFD900_BUF_SIZE));
+
+ // the buffer that stores the bytes received from the ground station. 
+ MavlinkTranslator MT;
+
+ this->telemetryManager = new TelemetryManager(stateData, state, mode, GSC, MT);
  this->telemetryManager->init();
  // IDK WHERE SM PLANS TO DO THIS, BUT telemetryManager.update() NEEDS TO BE CALLED AT A SEMI
  // REGULAR INTERVAL AS IT DEALS WITH MESSAGE DECODING AND LOW PRIORITY DATA TRANSMISSION

TelemetryManager/Inc/TelemetryManager.hpp

@@ -21,70 +21,88 @@
 #include "MavlinkTranslator.hpp"
 #include "task.h"
 
-class TelemetryManager {
- public:
- GroundStationCommunication GSC;
- MavlinkTranslator MT;
- // the buffer that stores the bytes received from the ground station.
- TMCircularBuffer* DMAReceiveBuffer;
- // the buffer that stores non_routine/low_priority bytes (ex. Battery Voltage) to be sent to the
- // ground station.
- uint8_t* lowPriorityTransmitBuffer;
- // the buffer that stores routine/high_priority bytes (ex. heading, general state data) to be
- // sent to the ground station.
- uint8_t* highPriorityTransmitBuffer;
-
+struct StateData {
  /*References to variables that contain the state of the drone (lat, lng, yaw, pitch, etc..).
  * They are updated by System Manager*/
  // Altitude (MSL) (unit:
  // mm)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int32_t& alt;
+ int32_t* alt;
+
  // The latitude of the drone (unit:
  // degE7)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int32_t& lat;
+ int32_t* lat;
+
  // The longitude of the drone (unit:
  // degE7)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int32_t& lon;
+ int32_t* lon;
+
  // Altitude above home (unit:
  // mm)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int32_t& relative_alt;
+ int32_t* relative_alt;
+
  // Ground X Speed (Latitude, positive north) (unit:
  // cm/s)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int16_t& vx;
+ int16_t* vx;
+
  // Ground Y Speed (Longitude, positive east) (unit:
  // cm/s)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int16_t& vy;
+ int16_t* vy;
+
  // Ground Z Speed (Altitude, positive down) (unit:
  // cm/s)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int16_t& vz;
+ int16_t* vz;
+
  // Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
  // (unit: cdeg)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- uint16_t& hdg;
+ uint16_t* hdg;
  // Timestamp (time since system boot) (unit: ms)
  // (https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int32_t& time_boot_ms;
- // System status flag (https://mavlink.io/en/messages/minimal.html#MAV_STATE).
- MAV_STATE& state;
- // System mode bitmap (https://mavlink.io/en/messages/minimal.html#MAV_MODE_FLAG).
- MAV_MODE_FLAG& mode;
+ int32_t* time_boot_ms;
+
  // Roll angle (-pi..+pi) (unit: rad)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& roll;
+ float* roll;
+
  // Pitch angle (-pi..+pi) (unit: rad)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& pitch;
+ float* pitch;
+
  // Yaw angle (-pi..+pi) (unit: rad)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& yaw;
+ float* yaw;
+
  // Roll angular speed (unit: rad/s)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& rollspeed;
+ float* rollspeed;
+
  // Pitch angular speed (unit: rad/s)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& pitchspeed;
+ float* pitchspeed;
+
  // yawspeed Yaw angular speed (unit: rad/s)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& yawspeed;
+ float* yawspeed;
+
+};
+
+class TelemetryManager {
+ public:
+
+ // struct containing variables that relate to the state of the drone (lat, lng, yaw, pitch, etc..).
+ StateData stateData;
+
+ // the buffer that stores the bytes received from the ground station.
+ MavlinkTranslator& MT;
+
+ // The object that facilitates communication with the ground station
+ GroundStationCommunication& GSC;
+
+
+ // System status flag (https://mavlink.io/en/messages/minimal.html#MAV_STATE).
+ MAV_STATE& state;
+ // System mode bitmap (https://mavlink.io/en/messages/minimal.html#MAV_MODE_FLAG).
+ MAV_MODE_FLAG& mode;
+
 
  /**
  * @brief Create and configure FreeRTOS tasks.
@@ -101,43 +119,14 @@ class TelemetryManager {
  /**
  * @brief Construct a new Telemetry Manager object. Does not initialize the tasks.
  * To do so call the init() method.
- * @param lat The latitude of the drone (unit:
- * degE7)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- * @param lon The longitude of the drone(unit:
- * degE7)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- * @param alt Altitude (MSL) (unit:
- * mm)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- * @param relative_alt Altitude above home (unit:
- * mm)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- * @param vx Ground X Speed (Latitude, positive north) (unit:
- * cm/s)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- * @param vy Ground Y Speed (Longitude, positive east) (unit:
- * cm/s)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- * @param vz Ground Z Speed (Altitude, positive down) (unit:
- * cm/s)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- * @param hdg Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- * (unit: cdeg)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- * @param time_boot_ms Timestamp (time since system boot) (unit: ms)
- * (https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
+ * @param stateData The state of the drone (lat, lng, yaw, pitch, etc..).
  * @param state System status flag (https://mavlink.io/en/messages/minimal.html#MAV_STATE).
  * @param mode System mode bitmap (https://mavlink.io/en/messages/minimal.html#MAV_MODE_FLAG).
- * @param roll Roll angle (-pi..+pi) (unit: rad)
- * (https://mavlink.io/en/messages/common.html#ATTITUDE).
- * @param pitch Pitch angle (-pi..+pi) (unit: rad)
- * (https://mavlink.io/en/messages/common.html#ATTITUDE).
- * @param yaw Yaw angle (-pi..+pi) (unit: rad)
- * (https://mavlink.io/en/messages/common.html#ATTITUDE).
- * @param rollspeed Roll angular speed (unit: rad/s)
- * (https://mavlink.io/en/messages/common.html#ATTITUDE).
- * @param pitchspeed Pitch angular speed (unit: rad/s)
- * (https://mavlink.io/en/messages/common.html#ATTITUDE).
- * @param yawspeed Yaw angular speed (unit: rad/s)
- * (https://mavlink.io/en/messages/common.html#ATTITUDE).
+ * @param GSC Object to handle communication with the groundstation
+ * @param MT Object to translate MAVLink data
  */
- TelemetryManager(int32_t& lat, int32_t& lon, int32_t& alt, int32_t& relative_alt, int16_t& vx,
- int16_t& vy, int16_t& vz, uint16_t& hdg, int32_t& time_boot_ms,
- MAV_STATE& state, MAV_MODE_FLAG& mode, float& roll, float& pitch, float& yaw,
- float& rollspeed, float& pitchspeed, float& yawspeed);
+ TelemetryManager(StateData& stateData, MAV_STATE& state, MAV_MODE_FLAG& mode, 
+ GroundStationCommunication& GSC, MavlinkTranslator& MT);
 
  /**
  * @brief Destroy the Telemetry Manager object. Also destroys the FreeRTOS tasks associated with

TelemetryManager/Src/TelemetryManager.cpp

@@ -4,34 +4,13 @@
 // FreeRTOS task handle for the routineDataTransmission task
 TaskHandle_t routineDataTransmissionH = NULL;
 
-TelemetryManager::TelemetryManager(int32_t& lat, int32_t& lon, int32_t& alt, int32_t& relative_alt,
- int16_t& vx, int16_t& vy, int16_t& vz, uint16_t& hdg,
- int32_t& time_boot_ms, MAV_STATE& state, MAV_MODE_FLAG& mode,
- float& roll, float& pitch, float& yaw, float& rollspeed,
- float& pitchspeed, float& yawspeed)
- : DMAReceiveBuffer(new TMCircularBuffer(rfd900_circular_buffer)),
- lowPriorityTransmitBuffer(new uint8_t[RFD900_BUF_SIZE]),
- highPriorityTransmitBuffer(new uint8_t[RFD900_BUF_SIZE]),
- GSC(*DMAReceiveBuffer, lowPriorityTransmitBuffer, highPriorityTransmitBuffer,
- RFD900_BUF_SIZE),
- lat(lat),
- lon(lon),
-
- alt(alt),
- relative_alt(relative_alt),
- vx(vx),
- vy(vy),
- vz(vz),
- hdg(hdg),
- time_boot_ms(time_boot_ms),
+TelemetryManager::TelemetryManager(StateData& stateData, MAV_STATE& state, MAV_MODE_FLAG& mode, 
+ GroundStationCommunication& GSC, MavlinkTranslator& MT)
+ : stateData(stateData),
  state(state),
  mode(mode),
- roll(roll),
- pitch(pitch),
- yaw(yaw),
- rollspeed(rollspeed),
- pitchspeed(pitchspeed),
- yawspeed(yawspeed) {}
+ GSC(GSC),
+ MT(MT) {}
 
 TelemetryManager::~TelemetryManager() {
  // Destructor
@@ -89,17 +68,22 @@ void routineDataTransmission(void* pvParameters) {
 
  // Pack the message with the actual data
  mavlink_msg_global_position_int_pack(system_id, component_id, &globalPositionIntMsg,
- tm->time_boot_ms, tm->lat, tm->lon, tm->alt,
- tm->relative_alt, tm->vx, tm->vy, tm->vz, tm->hdg);
+ *(tm->stateData.time_boot_ms), *(tm->stateData.lat), 
+ *(tm->stateData.lon), *(tm->stateData.alt),
+ *(tm->stateData.relative_alt), *(tm->stateData.vx), 
+ *(tm->stateData.vy), *(tm->stateData.vz), *(tm->stateData.hdg));
 
  // Add the packed message to the byte queue for later transmission
  tm->MT.addMavlinkMsgToByteQueue(globalPositionIntMsg, tm->GSC.highPriorityTransmitBuffer);
 
  // Create an attitude message
  mavlink_message_t attitudeMsg = {0};
  // Pack the message with the actual data
- mavlink_msg_attitude_pack(system_id, component_id, &attitudeMsg, tm->time_boot_ms, tm->roll,
- tm->pitch, tm->yaw, tm->rollspeed, tm->pitchspeed, tm->yawspeed);
+ mavlink_msg_attitude_pack(system_id, component_id, &attitudeMsg, 
+ *(tm->stateData.time_boot_ms), *(tm->stateData.roll), *(tm->stateData.pitch), 
+ *(tm->stateData.yaw), *(tm->stateData.rollspeed), *(tm->stateData.pitchspeed), 
+ *(tm->stateData.yawspeed));
+
  // Add the packed message to the byte queue for later transmission
  tm->MT.addMavlinkMsgToByteQueue(attitudeMsg, tm->GSC.highPriorityTransmitBuffer);