Dependency injection

SystemManager/Src/SystemManager.cpp

@@ -11,7 +11,10 @@
 #include "sbus_defines.h"
 #include "sbus_receiver.hpp"
 #include "tim.h"
-
+#include "GroundStationCommunication.hpp"
+#include "TelemetryManager.hpp"
+#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 +36,66 @@ 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
+    TMStateData 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 mavState = MAV_STATE::MAV_STATE_STANDBY;
+    MAV_MODE_FLAG mavMode = 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, mavState, mavMode, 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 TMStateData {
     /*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..).
+    TMStateData 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& mavState;
+    // System mode bitmap (https://mavlink.io/en/messages/minimal.html#MAV_MODE_FLAG).
+    MAV_MODE_FLAG& mavMode;
+
 
     /**
      * @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 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 stateData The state of the drone (lat, lng, yaw, pitch, etc..).
+     * @param mav_state System status flag (https://mavlink.io/en/messages/minimal.html#MAV_STATE).
+     * @param mav_mode System mode bitmap (https://mavlink.io/en/messages/minimal.html#MAV_MODE_FLAG).
+     * @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(TMStateData& stateData, MAV_STATE& mavState, MAV_MODE_FLAG& mavMode, 
+                     GroundStationCommunication& GSC, MavlinkTranslator& MT);
 
     /**
      * @brief Destroy the Telemetry Manager object. Also destroys the FreeRTOS tasks associated with

TelemetryManager/Src/TelemetryManager.cpp

@@ -4,33 +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),
-      state(state),
-      mode(mode),
-      roll(roll),
-      pitch(pitch),
-      yaw(yaw),
-      rollspeed(rollspeed),
-      pitchspeed(pitchspeed),
-      yawspeed(yawspeed) {}
+TelemetryManager::TelemetryManager(TMStateData& stateData, MAV_STATE& mav_state, MAV_MODE_FLAG& mav_mode, 
+                                   GroundStationCommunication& GSC, MavlinkTranslator& MT)
+    : stateData(stateData),
+      mavState(mavState),
+      mavMode(mavMode),
+      GSC(GSC),
+      MT(MT) {}
 
 TelemetryManager::~TelemetryManager() {
     // Destructor
@@ -88,17 +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);
 
@@ -108,7 +93,7 @@ void routineDataTransmission(void* pvParameters) {
         mavlink_message_t heartbeatMsg = {0};
         // Pack the message with the actual data
         mavlink_msg_heartbeat_pack(system_id, component_id, &heartbeatMsg, MAV_TYPE_QUADROTOR,
-                                   MAV_AUTOPILOT_INVALID, tm->mode, 0, tm->state);
+                                   MAV_AUTOPILOT_INVALID, tm->mavMode, 0, tm->mavState);
         // Add the packed message to the byte queue for later transmission
         tm->MT.addMavlinkMsgToByteQueue(heartbeatMsg, tm->GSC.highPriorityTransmitBuffer);