Telemetry.cpp

00001 #include "Telemetry.hpp"
00002 #include "c_api/telemetry_core.h"
00003 #include "BufferedSerial.h"
00004 
00005 static BufferedSerial pc(USBTX, USBRX);
00006 
00007 int32_t read(void * buf, uint32_t sizeToRead)
00008 {
00009     *(uint8_t*)(buf) = pc.getc();
00010     return 1;
00011 }
00012 
00013 int32_t write(void * buf, uint32_t sizeToWrite)
00014 {
00015     pc.write(buf,sizeToWrite);
00016     return 0;
00017 }
00018 
00019 int32_t readable()
00020 {
00021     return pc.readable();
00022 }
00023 
00024 int32_t writeable()
00025 {
00026     return pc.writeable();
00027 }
00028 
00029 Telemetry::Telemetry(uint32_t bauds)
00030 {
00031     transport.read = read;
00032     transport.write = write;
00033     transport.readable = readable;
00034     transport.writeable = writeable;
00035 
00036     init_telemetry(&transport);
00037 
00038     pc.baud(bauds);
00039 }
00040 
00041 void Telemetry::attach_f32_to(const char * topic, float * variable)
00042 {
00043     attach_f32(topic, variable);
00044 }
00045 
00046 void Telemetry::attach_u8_to(const char * topic, uint8_t * variable)
00047 {
00048     attach_u8(topic, variable);
00049 }
00050 
00051 void Telemetry::attach_u16_to(const char * topic, uint16_t * variable)
00052 {
00053     attach_u16(topic, variable);
00054 }
00055 
00056 void Telemetry::attach_u32_to(const char * topic, uint32_t * variable)
00057 {
00058     attach_u32(topic, variable);
00059 }
00060 
00061 void Telemetry::attach_i8_to(const char * topic, int8_t * variable)
00062 {
00063     attach_i8(topic, variable);
00064 }
00065 
00066 void Telemetry::attach_i16_to(const char * topic, int16_t * variable)
00067 {
00068     attach_i16(topic, variable);
00069 }
00070 
00071 void Telemetry::attach_i32_to(const char * topic, int32_t * variable)
00072 {
00073     attach_i32(topic, variable);
00074 }
00075 
00076 void Telemetry::begin(uint32_t bauds)
00077 {
00078     pc.baud(bauds);
00079 }
00080 
00081 TM_transport * Telemetry::get_transport()
00082 {
00083   return &transport;
00084 }
00085 
00086 void Telemetry::pub(const char * topic, const char * msg)
00087 {
00088     publish(topic,msg);
00089 }
00090 
00091 void Telemetry::pub_u8(const char * topic, uint8_t msg)
00092 {
00093     publish_u8(topic,msg);
00094 }
00095 
00096 void Telemetry::pub_u16(const char * topic, uint16_t msg)
00097 {
00098     publish_u16(topic,msg);
00099 }
00100 
00101 void Telemetry::pub_u32(const char * topic, uint32_t msg)
00102 {
00103     publish_u32(topic,msg);
00104 }
00105 
00106 void Telemetry::pub_i8(const char * topic, int8_t msg)
00107 {
00108     publish_i8(topic,msg);
00109 }
00110 
00111 void Telemetry::pub_i16(const char * topic, int16_t msg)
00112 {
00113     publish_i16(topic,msg);
00114 }
00115 
00116 void Telemetry::pub_i32(const char * topic, int32_t msg)
00117 {
00118     publish_i32(topic,msg);
00119 }
00120 
00121 void Telemetry::pub_f32(const char * topic, float msg)
00122 {
00123     publish_f32(topic,msg);
00124 }
00125 
00126 void Telemetry::sub(void (*callback)(TM_state * s, TM_msg * m),
00127                     TM_state* userData)
00128 {
00129     subscribe(callback,userData);
00130 }
00131 
00132 void Telemetry::update()
00133 {
00134     update_telemetry(0);
00135 }