Connection Class Reference

#include <Connection.hpp>

Collaboration diagram for Connection:

Public Member Functions
	Connection (std::string name, std::shared_ptr< Filter > filter, bool mirror=false, std::unique_ptr< AddressPool<>> pool=std::make_unique< AddressPool<>>(), std::unique_ptr< PacketQueue > queue=std::make_unique< PacketQueue >())
TEST_VIRTUAL	~Connection ()=default
TEST_VIRTUAL void	add_address (MAVAddress address)
TEST_VIRTUAL std::shared_ptr< const Packet >	next_packet (const std::chrono::nanoseconds &timeout=std::chrono::nanoseconds(0))
TEST_VIRTUAL void	send (std::shared_ptr< const Packet > packet)

Friends
std::ostream &	operator<< (std::ostream &os, const Connection &connection)

Detailed Description

Represents a connection that packets can be sent over.

The connection class does not actually send anything. It filters and sorts packets in a queue for sending by an Interface. It also maintains a list of MAVLink addresses reachable on this connection.

Definition at line 39 of file Connection.hpp.

Constructor & Destructor Documentation

Connection()

Connection::Connection	(	std::string	name,
		std::shared_ptr< Filter >	filter,
		bool	mirror = false,
		std::unique_ptr< AddressPool<>>	pool = std::make_unique<AddressPool<>>(),
		std::unique_ptr< PacketQueue >	queue = std::make_unique<PacketQueue>()
	)

Construct a connection.

Parameters

name	The name of the connection, should be the device string for a serial connection or the IP address and port number for a UDP connection.
filter	The packet filter to use for determining whether and with what priority to add a packet to the queue for transmission.
mirror	Set to true if this is to be a mirror connection. A mirror connection is one that will receive all packets, regardless of destination address. The default is false.
pool	The AddressPool to use for keeping track of the addresses reachable by the connection. A default address pool will be used if none is given.
queue	The PacketQueue to use to hold packets awaiting transmission. A default packet queue will be used if none is given.

Exceptions

std::invalid_argument

if the given any of the filter, pool, or queue pointers are null.

Remarks

If the given AddressPool and PacketQueue are threadsafe then the connection will also be threadsafe.

Definition at line 244 of file Connection.cpp.

~Connection()

TEST_VIRTUAL Connection::~Connection ( )

default

Member Function Documentation

add_address()

void Connection::add_address

(

MAVAddress

address

)

Add a MAVLink address to the connection.

This adds an address to the list of systems/components that can be reached on this connection.

Note

Addresses will be removed after the timeout set in the AddressPool given in the constructor. Re-adding the address (even before this time runs out) will reset the timeout.

Parameters

address

The MAVLink address to add, or update the timeout for.

Definition at line 281 of file Connection.cpp.

References Logger::level(), Logger::log(), and str().

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next_packet()

std::shared_ptr< const Packet > Connection::next_packet

(

const std::chrono::nanoseconds &

timeout = std::chrono::nanoseconds(0)

)

Get next packet to send.

Blocks until a packet is ready to be sent or the timeout expires. Returns nullptr in the later case.

Parameters

timeout

How long to block waiting for a packet. Set to 0s for non blocking.

Returns

The next packet to send. Or nullptr if the call times out waiting on a packet.

Definition at line 303 of file Connection.cpp.

send()

void Connection::send

(

std::shared_ptr< const Packet >

packet

)

Send a packet out on the connection.

Packets are ran through the contained Filter before being placed into the PacketQueue given in the constructor. Packets are read from the queue (for sending) by using the next_packet method.

Note

If the packet has a destination address that is not 0.0 (the broadcast address) it will only be sent if that system is reachable on this connection. It will still be sent even if the particular component cannot be found.

If this is a mirror connection then the destination address of the packet is ignored.

Parameters

packet

The packet to send.

Exceptions

std::invalid_argument

if the packet pointer is null.

Definition at line 327 of file Connection.cpp.

References MAVAddress::component(), and MAVAddress::system().

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Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  os, const Connection &  connection  )

friend

Print the connection name to the given output stream.

Some examples are:

• /dev/ttyUSB0
• 127.0.0.1:8000
• 127.0.0.1:14550

Definition at line 368 of file Connection.cpp.

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The documentation for this class was generated from the following files:

• Connection.hpp
• Connection.cpp