mavlinkSend.hpp

Go to the documentation of this file.

// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#if __linux__ || __APPLE__
 
    #include "internal/Node/Node.hpp"
 
    #include "NodeData/State/PosVelAtt.hpp"
 
    #include <mavlink/common/mavlink.h>
 
    #include "util/Vendor/MavLink/autopilot_interface.hpp"
    #include "util/Vendor/MavLink/serial_port.hpp"
    #include "util/Vendor/MavLink/udp_port.hpp"
 
namespace NAV
{
class MavlinkSend : public Node
{
  public:
    MavlinkSend();
    ~MavlinkSend() override;
    MavlinkSend(const MavlinkSend&) = delete;
    MavlinkSend(MavlinkSend&&) = delete;
    MavlinkSend& operator=(const MavlinkSend&) = delete;
    MavlinkSend& operator=(MavlinkSend&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
    void guiConfig() override;
 
    [[nodiscard]] json save() const override;
 
    void restore(const json& j) override;
 
    bool resetNode() override;
 
  private:
    constexpr static size_t INPUT_PORT_INDEX_NODE_DATA = 0; 
 
    bool initialize() override;
 
    void deinitialize() override;
 
    void receivePosVelAtt(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    enum class PortType : uint8_t
    {
        Serial_Port, 
        UDP_Port,    
    };
 
    std::shared_ptr<Generic_Port> port;
 
    Autopilot_Interface autopilot_interface;
 
    PortType _portType = PortType::Serial_Port;
 
    std::array<int, 4> _ip{ 127, 0, 0, 1 };
 
    static std::string convertArrayToIPAddress(const std::array<int, 4>& ipArray);
 
    int _portNumber = 14540;
 
    static constexpr std::array<int, 2> IP_LIMITS = { 0, 255 };
    static constexpr std::array<int, 2> PORT_LIMITS = { 0, 65535 };
 
    std::string _serialPort;
 
    enum class Baudrate : uint8_t
    {
        BAUDRATE_1200,    
        BAUDRATE_2400,    
        BAUDRATE_4800,    
        BAUDRATE_9600,    
        BAUDRATE_19200,   
        BAUDRATE_38400,   
        BAUDRATE_57600,   
        BAUDRATE_111100,  
        BAUDRATE_115200,  
        BAUDRATE_230400,  
        BAUDRATE_256000,  
        BAUDRATE_460800,  
        BAUDRATE_500000,  
        BAUDRATE_921600,  
        BAUDRATE_1500000, 
        COUNT             
    };
    static const char* to_string(Baudrate value);
 
    static int getBaudrateValue(Baudrate value);
 
    Baudrate _baudrate = Baudrate::BAUDRATE_57600;
 
    bool _GPS_INPUT_Active = false;
 
    double _GPS_INPUT_Frequency = 10;
 
    bool _ATT_POS_MOCAP_Active = false;
 
    double _ATT_POS_MOCAP_Frequency = 10;
};
} // namespace NAV
#endif