#include <ref_serial_transmitter.hpp>

Inheritance diagram for tap::communication::serial::RefSerialTransmitter:

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Collaboration diagram for tap::communication::serial::RefSerialTransmitter:

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Public Member Functions
	RefSerialTransmitter (Drivers *drivers)

mockable modm::ResumableResult< void >	deleteGraphicLayer (Tx::DeleteGraphicOperation graphicOperation, uint8_t graphicLayer)

mockable modm::ResumableResult< void >	sendRobotToRobotMsg (Tx::RobotToRobotMessage *robotToRobotMsg, uint16_t msgId, RobotId receiverId, uint16_t msgLen)


mockable modm::ResumableResult< void >	sendGraphic (Tx::Graphic1Message *graphicMsg, bool configMsgHeader=true, bool sendMsg=true)

mockable modm::ResumableResult< void >	sendGraphic (Tx::Graphic2Message *graphicMsg, bool configMsgHeader=true, bool sendMsg=true)

mockable modm::ResumableResult< void >	sendGraphic (Tx::Graphic5Message *graphicMsg, bool configMsgHeader=true, bool sendMsg=true)

mockable modm::ResumableResult< void >	sendGraphic (Tx::Graphic7Message *graphicMsg, bool configMsgHeader=true, bool sendMsg=true)

mockable modm::ResumableResult< void >	sendGraphic (Tx::GraphicCharacterMessage *graphicMsg, bool configMsgHeader=true, bool sendMsg=true)

Static Public Member Functions
static void	configGraphicGenerics (Tx::GraphicData graphicData, const uint8_t name, Tx::GraphicOperation operation, uint8_t layer, Tx::GraphicColor color)

static void	configLine (uint16_t width, uint16_t startX, uint16_t startY, uint16_t endX, uint16_t endY, Tx::GraphicData *sharedData)

static void	configRectangle (uint16_t width, uint16_t startX, uint16_t startY, uint16_t endX, uint16_t endY, Tx::GraphicData *sharedData)

static void	configCircle (uint16_t width, uint16_t centerX, uint16_t centerY, uint16_t radius, Tx::GraphicData *sharedData)

static void	configEllipse (uint16_t width, uint16_t centerX, uint16_t centerY, uint16_t xLen, uint16_t yLen, Tx::GraphicData *sharedData)

static void	configArc (uint16_t startAngle, uint16_t endAngle, uint16_t width, uint16_t centerX, uint16_t centerY, uint16_t xLen, uint16_t yLen, Tx::GraphicData *sharedData)

static void	configFloatingNumber (uint16_t fontSize, uint16_t decimalPrecision, uint16_t width, uint16_t startX, uint16_t startY, float value, Tx::GraphicData *sharedData)

static void	configInteger (uint16_t fontSize, uint16_t width, uint16_t startX, uint16_t startY, int32_t value, Tx::GraphicData *sharedData)

static void	configCharacterMsg (uint16_t fontSize, uint16_t width, uint16_t startX, uint16_t startY, const char dataToPrint, Tx::GraphicCharacterMessage sharedData)

static void	configFrameHeader (DJISerial::FrameHeader *header, uint16_t msgLen)

static void	configInteractiveHeader (Tx::InteractiveHeader *header, uint16_t cmdId, RobotId senderId, uint16_t receiverId)

Static Public Member Functions inherited from tap::communication::serial::RefSerialData
static bool	isBlueTeam (RobotId id)

Additional Inherited Members
Public Types inherited from tap::communication::serial::RefSerialData
enum class	RobotId : uint16_t { INVALID = 0 , RED_HERO = 1 , RED_ENGINEER = 2 , RED_SOLDIER_1 = 3 , RED_SOLDIER_2 = 4 , RED_SOLDIER_3 = 5 , RED_DRONE = 6 , RED_SENTINEL = 7 , RED_DART = 8 , RED_RADAR_STATION = 9 , BLUE_HERO = 101 , BLUE_ENGINEER = 102 , BLUE_SOLDIER_1 = 103 , BLUE_SOLDIER_2 = 104 , BLUE_SOLDIER_3 = 105 , BLUE_DRONE = 106 , BLUE_SENTINEL = 107 , BLUE_DART = 108 , BLUE_RADAR_STATION = 109 }

Detailed Description

Encapsulates logic for sending messages to the referee system. This includes sending robot-to-robot communication messages and UI drawing instructions to the RoboMaster client.

The instance member functions of this class that return a modm::ResumableResult<void> must be used in a protothread or resumable function. In other words, member functions such as sendGraphic must be in a call of PT_CALL or RF_CALL.

This transmitter allows the user to send data to the referee system from multiple protothreads. An instance of the ref serial transmitter should be instantiated for each protothread. If unique instances are not used, behavior is undefined.

Constructor & Destructor Documentation

◆ RefSerialTransmitter()

tap::communication::serial::RefSerialTransmitter::RefSerialTransmitter ( Drivers * drivers )

Member Function Documentation

◆ configArc()

void tap::communication::serial::RefSerialTransmitter::configArc	(	uint16_t	startAngle,
		uint16_t	endAngle,
		uint16_t	width,
		uint16_t	centerX,
		uint16_t	centerY,
		uint16_t	xLen,
		uint16_t	yLen,
		Tx::GraphicData *	sharedData
	)

static

Configures sharedData with an arc graphic whose parameters are specified.

Parameters

[out] sharedData The graphic data struct to configure.

◆ configCharacterMsg()

void tap::communication::serial::RefSerialTransmitter::configCharacterMsg	(	uint16_t	fontSize,
		uint16_t	width,
		uint16_t	startX,
		uint16_t	startY,
		const char *	dataToPrint,
		Tx::GraphicCharacterMessage *	sharedData
	)

static

Configures a character message in the passed in GraphicCharacterMessage.

Recommended font size and line width ratio is 10:1.

Parameters

[out] sharedData The message to configure.

◆ configCircle()

void tap::communication::serial::RefSerialTransmitter::configCircle	(	uint16_t	width,
		uint16_t	centerX,
		uint16_t	centerY,
		uint16_t	radius,
		Tx::GraphicData *	sharedData
	)

static

Configures sharedData with a circle graphic whose parameters are specified.

Parameters

[out] sharedData The graphic data struct to configure.

◆ configEllipse()

void tap::communication::serial::RefSerialTransmitter::configEllipse	(	uint16_t	width,
		uint16_t	centerX,
		uint16_t	centerY,
		uint16_t	xLen,
		uint16_t	yLen,
		Tx::GraphicData *	sharedData
	)

static

Configures sharedData with an ellipse graphic whose parameters are specified.

Parameters

[out] sharedData The graphic data struct to configure.

◆ configFloatingNumber()

void tap::communication::serial::RefSerialTransmitter::configFloatingNumber	(	uint16_t	fontSize,
		uint16_t	decimalPrecision,
		uint16_t	width,
		uint16_t	startX,
		uint16_t	startY,
		float	value,
		Tx::GraphicData *	sharedData
	)

static

Configures sharedData with a floating point number.

Recommended font size and line width ratio is 10:1.

Note: This function doesn't work because of known issues in the referee system server.

Parameters

[out] sharedData The graphic data struct to configure.

◆ configFrameHeader()

void tap::communication::serial::RefSerialTransmitter::configFrameHeader	(	DJISerial::FrameHeader *	header,
		uint16_t	msgLen
	)

static

Properly constructs the frame header and places it in the passed in header.

Parameters

[out]	header	The frame header struct to store the constructed frame header.
[in]	msgLen	The length of the message. This includes only the length of the data and not the length of the cmdId or frame tail.

◆ configGraphicGenerics()

void tap::communication::serial::RefSerialTransmitter::configGraphicGenerics	(	Tx::GraphicData *	graphicData,
		const uint8_t *	name,
		Tx::GraphicOperation	operation,
		uint8_t	layer,
		Tx::GraphicColor	color
	)

static

Configures the graphicData with all data generic to the type of graphic being configured.

For sending graphics, the general schema is to create a Graphic<n>Message struct, configure the individual GraphicData structs in the graphic message using the configGraphicGenerics and then config<Line|Rectangle|Circle|etc.> functions. Finally, send the graphic message using sendGraphic.

For example, to configure and send a line graphic (refSerialTransmitter is a pointer to a RefSerialTransmitter object):

Graphic1Message msg;
RefSerialTransmitter::configGraphicGenerics(
     &msg.graphicData,
     "\x00\x00\x01",
     RefSerial::GRAPHIC_ADD,1,
     YELLOW);
RefSerialTransmitter::configLine(4, 100, 100, 200, 200, &msg.graphicData);
refSerialTransmitter->sendGraphic(&msg);

Parameters

[out]	graphicData	The structure where generic data will be stored.
[in]	name	The name of the graphic.
[in]	operation	The graphic operation to be done (add/remove, etc).
[in]	layer	The graphic layer the graphic will be located at. Must be between 0-9
[in]	color	The color of the graphic.

◆ configInteger()

void tap::communication::serial::RefSerialTransmitter::configInteger	(	uint16_t	fontSize,
		uint16_t	width,
		uint16_t	startX,
		uint16_t	startY,
		int32_t	value,
		Tx::GraphicData *	sharedData
	)

static

Configures sharedData with an integer.

Recommended font size and line width ratio is 10:1.

Note: This function doesn't display negative numbers properly because of known issues in the referee system server.

Parameters

[out] sharedData The graphic data struct to configure.

◆ configInteractiveHeader()

void tap::communication::serial::RefSerialTransmitter::configInteractiveHeader	(	Tx::InteractiveHeader *	header,
		uint16_t	cmdId,
		RobotId	senderId,
		uint16_t	receiverId
	)

static

◆ configLine()

void tap::communication::serial::RefSerialTransmitter::configLine	(	uint16_t	width,
		uint16_t	startX,
		uint16_t	startY,
		uint16_t	endX,
		uint16_t	endY,
		Tx::GraphicData *	sharedData
	)

static

Configures sharedData with a line graphic whose parameters are specified.

Parameters

[out] sharedData The graphic data struct to configure.

◆ configRectangle()

void tap::communication::serial::RefSerialTransmitter::configRectangle	(	uint16_t	width,
		uint16_t	startX,
		uint16_t	startY,
		uint16_t	endX,
		uint16_t	endY,
		Tx::GraphicData *	sharedData
	)

static

Configures sharedData with a rectangle graphic whose parameters are specified.

Parameters

[out] sharedData The graphic data struct to configure.

◆ deleteGraphicLayer()

modm::ResumableResult< void > tap::communication::serial::RefSerialTransmitter::deleteGraphicLayer	(	Tx::DeleteGraphicOperation	graphicOperation,
		uint8_t	graphicLayer
	)

Deletes an entire graphic layer or the entire screen

Parameters

[in]	graphicOperation	Whether to delete a single layer or the entire screen.
[in]	graphicLayer	The layer to remove. Must be between 0-9

◆ sendGraphic() [1/5]

modm::ResumableResult< void > tap::communication::serial::RefSerialTransmitter::sendGraphic	(	Tx::Graphic1Message *	graphicMsg,
		bool	configMsgHeader = `true`,
		bool	sendMsg = `true`
	)

This function and the ones below all configure the message header and sends the specified message struct to the referee system unless configMsgHeader or sendMsg are false.

Parameters

[in]	graphicMsg	The graphic message to send. Note that this struct is updated with header information in this function.
[in]	configMsgHeader	Whether or not to update the `graphicMsg`'s header information.
[in]	sendMsg	Whether or not to send the message.

Todo:: template instantiation?

◆ sendGraphic() [2/5]

modm::ResumableResult< void > tap::communication::serial::RefSerialTransmitter::sendGraphic	(	Tx::Graphic2Message *	graphicMsg,
		bool	configMsgHeader = `true`,
		bool	sendMsg = `true`
	)

◆ sendGraphic() [3/5]

modm::ResumableResult< void > tap::communication::serial::RefSerialTransmitter::sendGraphic	(	Tx::Graphic5Message *	graphicMsg,
		bool	configMsgHeader = `true`,
		bool	sendMsg = `true`
	)

◆ sendGraphic() [4/5]

modm::ResumableResult< void > tap::communication::serial::RefSerialTransmitter::sendGraphic	(	Tx::Graphic7Message *	graphicMsg,
		bool	configMsgHeader = `true`,
		bool	sendMsg = `true`
	)

◆ sendGraphic() [5/5]

modm::ResumableResult< void > tap::communication::serial::RefSerialTransmitter::sendGraphic	(	Tx::GraphicCharacterMessage *	graphicMsg,
		bool	configMsgHeader = `true`,
		bool	sendMsg = `true`
	)

◆ sendRobotToRobotMsg()

modm::ResumableResult< void > tap::communication::serial::RefSerialTransmitter::sendRobotToRobotMsg	(	Tx::RobotToRobotMessage *	robotToRobotMsg,
		uint16_t	msgId,
		RobotId	receiverId,
		uint16_t	msgLen
	)

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

fang-mcb-project/taproot/src/tap/communication/serial/ref_serial_transmitter.hpp
fang-mcb-project/taproot/src/tap/communication/serial/ref_serial_transmitter.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RefSerialTransmitter()

Member Function Documentation

◆ configArc()

◆ configCharacterMsg()

◆ configCircle()

◆ configEllipse()

◆ configFloatingNumber()

◆ configFrameHeader()

◆ configGraphicGenerics()

◆ configInteger()

◆ configInteractiveHeader()

◆ configLine()

◆ configRectangle()

◆ deleteGraphicLayer()

◆ sendGraphic() [1/5]

◆ sendGraphic() [2/5]

◆ sendGraphic() [3/5]

◆ sendGraphic() [4/5]

◆ sendGraphic() [5/5]

◆ sendRobotToRobotMsg()