Dependency Injection for GroundStationCommunication

Author: larry-pan

SystemManager/Src/SystemManager.cpp

@@ -11,6 +11,7 @@
 #include "sbus_defines.h"
 #include "sbus_receiver.hpp"
 #include "tim.h"
+#include "GroundStationCommunication.hpp"
 
 
 #define TIMEOUT_CYCLES 250000 // 25k = 1 sec fro testing 10/14/2023 => 250k = 10 sec
@@ -51,9 +52,23 @@ SystemManager::SystemManager()
     float pitchspeed = 0;
     float yawspeed = 0;
 
+    // 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);
+
     this->telemetryManager =
         new TelemetryManager(lat, lon, alt, relative_alt, vx, vy, vz, hdg, time_boot_ms, state,
-                             mode, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed);
+                             mode, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, GSC);
     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

@@ -23,16 +23,13 @@
 
 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;
+
+    // The object that facilitates communication with the ground station (?)
+    // I'm not 100% sure what GroundStationCommunication does
+    GroundStationCommunication& GSC;
 
     /*References to variables that contain the state of the drone (lat, lng, yaw, pitch, etc..).
      * They are updated by System Manager*/
@@ -137,7 +134,7 @@ class 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);
+                     float& rollspeed, float& pitchspeed, float& yawspeed, GroundStationCommunication& GSC);
 
     /**
      * @brief Destroy the Telemetry Manager object. Also destroys the FreeRTOS tasks associated with

TelemetryManager/Src/TelemetryManager.cpp

@@ -8,12 +8,8 @@ TelemetryManager::TelemetryManager(int32_t& lat, int32_t& lon, int32_t& alt, int
                                    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),
+                                   float& pitchspeed, float& yawspeed, GroundStationCommunication& GSC)
+    : GSC(GSC)
       lat(lat),
       lon(lon),
       alt(alt),