Small Stuff

Author: Yaremadzulynsky

TelemetryManager/Inc/TM.hpp

@@ -14,34 +14,29 @@
 #ifndef TM_H
 #define TM_H
 
-    /**
-     * @brief This is essentially a compatibility/wrapper function that allows us to turn 
-     * a member function into a static function. This is necessary because FreeRTOS tasks
-     * can only take static functions as arguments.
-     * @param memberFunction - The member function to be turned into a static function.
-     * Note that the Macro simply takes the name in ANSI text of the member function and 
-     * appends "Static" to it. All you need to do is pass the name of the member function.
-     */
-#define TRANSLATE_TO_STATIC(memberFunction)               \
-    static void memberFunction##Static(void* pvParameters) {           \
+/**
+ * @brief This is essentially a compatibility/wrapper function that allows us to turn
+ * a member function into a static function. This is necessary because FreeRTOS tasks
+ * can only take static functions as arguments.
+ * @param memberFunction - The member function to be turned into a static function.
+ * Note that the Macro simply takes the name in ANSI text of the member function and
+ * appends "Static" to it. All you need to do is pass the name of the member function.
+ */
+#define TRANSLATE_TO_STATIC(memberFunction)                              \
+    static void memberFunction##Static(void* pvParameters) {             \
         auto* tmInstance = static_cast<TelemetryManager*>(pvParameters); \
-        tmInstance->memberFunction();                                  \
+        tmInstance->memberFunction();                                    \
     }
 
 #include "GroundStationComms.hpp"
 #include "MavlinkTranslator.hpp"
 #include "TimerInterrupt.hpp"
 
 class TelemetryManager {
-
-/**
- * @brief Construct a new Telemetry Manager object. Does not initialize the threads or timer interrupts.
- * To do so call the init() method.
- * 
- * @param GSC - The GroundStationComms object.
- * @param MT - The MavlinkTranslator object.
- * @param TI - 
- */
+    /**
+     * @brief Construct a new Telemetry Manager object. Does not initialize the threads or timer
+     * interrupts. To do so call the init() method.
+     */
     TelemetryManager();
     ~TelemetryManager();
 
@@ -61,17 +56,24 @@ class TelemetryManager {
      * message.
      */
     void translateToMavlinkThread();
-    // Create a static version of the translateToMavlinkThread function to be used as a callback for the FreeRTOS task.
+
+    /*
+    Create a static version of the translateToMavlinkThread function to be used as a callback for
+    the FreeRTOS task.
+    */
     TRANSLATE_TO_STATIC(translateToMavlinkThread);
 
     /**
      * @brief This thread is responsible for taking data from other managers and converting
      * them to Mavlink bytes, then putting them into GSC.lowPriorityTransmitBuffer.
      */
     void mavlinkToBytesThread();
-    // Create a static version of the mavlinkToBytesThread function to be used as a callback for the FreeRTOS task.
-    TRANSLATE_TO_STATIC(mavlinkToBytesThread);
 
+    /*
+    Create a static version of the mavlinkToBytesThread function to be used as a callback for the
+    FreeRTOS task.
+    */
+    TRANSLATE_TO_STATIC(mavlinkToBytesThread);
 
     /**
      * @brief This method is responsible for
@@ -81,7 +83,17 @@ class TelemetryManager {
      */
     void sendLowPriorityData();
 
-    void createTimerInterrupts();
+    /**
+     * @brief Create the timer interrupts for the TelemetryManager.
+     *
+     */
+    void initTimerInterrupts();
+
+    /**
+     * @brief Create and configure the threads for the TelemetryManager.
+     *
+     */
+    void initTasks();
 };
 
 #endif

TelemetryManager/Src/TM.cpp

@@ -1,22 +1,57 @@
+#include "FreeRTOS.h"
 #include "GroundStationComms.hpp"
 #include "MavlinkTranslator.hpp"
 #include "TimerInterrupt.hpp"
-#include "FreeRTOS.h"
 #include "task.h"
 
 TelemetryManager::TelemetryManager() {
     this->MT = MavlinkTranslator();
     this->GSC = GroundStationComms();
 }
 
+TelemetryManager::~TelemetryManager() {
+    // Destructor
+}
+
 /**
  * @brief Initialize TM threads and timer interrupts.
  *
  */
 void TelemetryManager::init() {
     // initialize the timer interrupts
-    createTimerInterrupts();
+    initTimerInterrupts();
+
+    // Init TM tasks
+    initTasks();
+
+    // Start the scheduler
+    vTaskStartScheduler();  // should this be in system manager instead?
+}
+
+void TelemetryManager::initTimerInterrupts() {
+    /**
+     * @brief This interrupt service routine is called every 1000ms. It is responsible for
+     * sending the highest priority drone "state" data to the ground station. Data such as
+     * heartbeat message, altitude, attitude, latitude, longitude... And anything else deemed
+     * important enough to be transmitted at a regular interval. This is the highest priority
+     * data in the GSC.highPriorityTransmitBuffer.
+     *
+     */
+    TimerInterrupt dispatchHighPriorityInterrupt1000Ms(
+        "dispatchHighPriority1000Ms", configMINIMAL_STACK_SIZE, tskIDLE_PRIORITY, 500, *this,
+        [](TelemetryManager& tm) -> void {
+            auto GSC = tm.GSC;
+
+            // START: ingest drone state data and pack bytes into GSC.highPriorityTransmitBuffer
 
+            // END: ingest drone state data and pack bytes into GSC.highPriorityTransmitBuffer
+
+            // transmit the data via GSC.sendToGroundStation(); function
+            GSC.sendToGroundStation(GSC.highPriorityTransmitBuffer);
+        });
+}
+
+void TelemetryManager::initTasks() {
     // Initialize translateToMavlinkThread as a FreeRTOS task
     xTaskCreate(TelemetryManager::translateToMavlinkThreadStatic,  // Task function
                 "translateToMavlinkThread",                        // Task name
@@ -34,9 +69,6 @@ void TelemetryManager::init() {
                 tskIDLE_PRIORITY + 1,                          // Task priority
                 NULL                                           // Task handle
     );
-
-    // Start the scheduler
-    vTaskStartScheduler();  // should this be in system manager instead?
 }
 
 /**
@@ -76,26 +108,3 @@ void TelemetryManager::sendLowPriorityData() {
     // transmit low priority the data via GSC.sendToGroundStation(); function
     GSC.sendToGroundStation(GSC.lowPriorityTransmitBuffer);
 }
-
-void TelemetryManager::createTimerInterrupts() {
-    /**
-     * @brief This interrupt service routine is called every 1000ms. It is responsible for
-     * sending the highest priority drone "state" data to the ground station. Data such as
-     * heartbeat message, altitude, attitude, latitude, longitude... And anything else deemed
-     * important enough to be transmitted at a regular interval. This is the highest priority
-     * data in the GSC.highPriorityTransmitBuffer.
-     *
-     */
-    TimerInterrupt dispatchHighPriorityInterrupt1000Ms(
-        "dispatchHighPriority1000Ms", configMINIMAL_STACK_SIZE, tskIDLE_PRIORITY, 500, *this,
-        [](TelemetryManager& tm) -> void {
-            auto GSC = tm.GSC;
-
-            // START: ingest drone state data and pack bytes into GSC.highPriorityTransmitBuffer
-
-            // END: ingest drone state data and pack bytes into GSC.highPriorityTransmitBuffer
-
-            // transmit the data via GSC.sendToGroundStation(); function
-            GSC.sendToGroundStation(GSC.highPriorityTransmitBuffer);
-        });
-}

TelemetryManager/Src/TimerInterrupt.cpp

@@ -4,8 +4,9 @@
 TimerInterrupt::TimerInterrupt(const char *taskName, int stackSize, UBaseType_t uxPriority,
                                TickType_t intervalMs, TelemetryManager &tm, Callback cbLambda)
     : tm(tm), cbLambda(cbLambda), xHandle(nullptr) {
-
-    // Below is just an example of creating a task with the TaskTrampoline. This is not the actual implementation.
+        
+    // Below is just an example of creating a task with the TaskTrampoline. This is not the actual
+    // implementation. Delete it and implement the actual timer interrupt.
     xTaskCreate(&TimerInterrupt::TaskTrampoline, taskName, stackSize, this, uxPriority, &xHandle);
 
     // START: Implement the actual timer interrupt and call the callback function every intervalMs
@@ -18,4 +19,3 @@ TimerInterrupt::~TimerInterrupt() {
         vTaskDelete(xHandle);
     }
 }
-