35 lines
1.1 KiB
C++
35 lines
1.1 KiB
C++
#include "FlightController.hpp"
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#include "GSON.h"
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#include "RF/BluetoothDispatcher.hpp"
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#include <map>
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class FlightDispatcher {
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/* Deserialize state and update it in FlightController. */
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public:
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FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
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FlightController *flightController, bool loop_on_fail = true);
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~FlightDispatcher();
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void tick();
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private:
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/* Telemetry flow */
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void _sendTelemetry();
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/* Events handlers */
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void _onNewDeviceConnected(BTAddress device);
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void _onNewMessageReceived(char *package);
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/* Requests handlers */
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void _changeStatus(const DeviceStatus &newStatus);
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void _pidSettingsOpened();
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/* Compile time settings */
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static constexpr const char *_tag = "FlightDispatcher";
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static constexpr const int _telemetryTimeIntervalMS = 200;
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static constexpr const uint8_t _jsonMaxDepth = 5;
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uint32_t _telemetryTimer = millis();
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BluetoothDispatcher *_bluetoothDispatcher;
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FlightController *_flightController;
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std::map<size_t, std::function<void(gson::Entry)>> _routes;
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}; |