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37 lines
985 B
C++
37 lines
985 B
C++
#ifndef _TELEM_H_
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#define _TELEM_H_
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#include <string>
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#include <stdio.h>
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#include "link_packet.h"
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#include "PacketHandler.h"
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/***********************************************************************
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Class: The telem class.
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Description: Creates a UDP socket for telemetry data, which is sent
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bidirectionally to and from the stm32.
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***********************************************************************/
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class Telem : public PacketHandler
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{
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public:
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// Constructor. Takes an IP address and port
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Telem(string ipaddr, int port, unsigned log_gaps_us, unsigned pkt_delay_max,
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string &pkt_delay_filename);
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// Special downhandler that checks mavlink types
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void downHandler(int ser_fd, int verbosity = 0);
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private:
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void pkt_delay_open(void);
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void pkt_delay_write(LinkPacket &packet);
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unsigned _log_gap_us;
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unsigned _log_delay_max;
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string _log_delay_filename;
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FILE *_fp_delay;
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unsigned _delay_cnt;
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};
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#endif //_TELEM_H
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