Abstract class defining a mixer mixing zero or more inputs to one or more outputs. More...

#include <Mixer.hpp>

Inheritance diagram for Mixer:

Collaboration diagram for Mixer:

Public Types
enum	Airmode : int32_t { Airmode::disabled = 0, Airmode::roll_pitch = 1, Airmode::roll_pitch_yaw = 2 }

typedef int(*	ControlCallback) (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control)
	Fetch a control value. More...

Public Member Functions
	Mixer (ControlCallback control_cb, uintptr_t cb_handle)
	Constructor. More...

virtual	~Mixer ()=default

	Mixer (const Mixer &)=delete

Mixer &	operator= (const Mixer &)=delete

	Mixer (Mixer &&)=delete

Mixer &	operator= (Mixer &&)=delete

virtual unsigned	mix (float *outputs, unsigned space)=0
	Perform the mixing function. More...

virtual uint16_t	get_saturation_status ()
	Get the saturation status. More...

virtual void	groups_required (uint32_t &groups)
	Analyses the mix configuration and updates a bitmask of groups that are required. More...

virtual void	set_max_delta_out_once (float delta_out_max)
	Empty method, only implemented for MultirotorMixer and MixerGroup class. More...

virtual unsigned	set_trim (float trim)
	Set trim offset for this mixer. More...

virtual unsigned	get_trim (float *trim)
	Get trim offset for this mixer. More...

virtual void	set_thrust_factor (float val)

virtual void	set_airmode (Airmode airmode)
	Set airmode. More...

virtual unsigned	get_multirotor_count ()

Public Member Functions inherited from ListNode< Mixer *>
void	setSibling (Mixer * sibling)

const Mixer *	getSibling () const

Protected Member Functions
float	get_control (uint8_t group, uint8_t index)
	Invoke the client callback to fetch a control value. More...

Static Protected Member Functions
static const char *	findtag (const char *buf, unsigned &buflen, char tag)
	Find a tag. More...

static char	findnexttag (const char *buf, unsigned buflen)
	Find next tag and return it (0 is returned if no tag is found) More...

static const char *	skipline (const char *buf, unsigned &buflen)
	Skip a line. More...

static bool	string_well_formed (const char *buf, unsigned &buflen)
	Check wether the string is well formed and suitable for parsing. More...

Protected Attributes
ControlCallback	_control_cb
	client-supplied callback used when fetching control values More...

uintptr_t	_cb_handle

Protected Attributes inherited from ListNode< Mixer *>
Mixer *	_list_node_sibling

Detailed Description

Abstract class defining a mixer mixing zero or more inputs to one or more outputs.

Definition at line 136 of file Mixer.hpp.

Member Typedef Documentation

◆ ControlCallback

typedef int(* Mixer::ControlCallback) (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control)

Fetch a control value.

Parameters

handle	Token passed when the callback is registered.
control_group	The group to fetch the control from.
control_index	The group-relative index to fetch the control from.
control	The returned control

Returns: Zero if the value was fetched, nonzero otherwise.

Definition at line 154 of file Mixer.hpp.

Member Enumeration Documentation

◆ Airmode

enum Mixer::Airmode : int32_t

strong

Enumerator
disabled
roll_pitch
roll_pitch_yaw

Definition at line 139 of file Mixer.hpp.

Constructor & Destructor Documentation

◆ Mixer() [1/3]

Mixer::Mixer	(	ControlCallback	control_cb,
		uintptr_t	cb_handle
	)

inline

Constructor.

Parameters

control_cb Callback invoked when reading controls.

Definition at line 161 of file Mixer.hpp.

References mix(), operator=(), and ~Mixer().

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◆ ~Mixer()

virtual Mixer::~Mixer ( )

virtualdefault

Referenced by Mixer().

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◆ Mixer() [2/3]

Mixer::Mixer ( const Mixer & )

delete

◆ Mixer() [3/3]

Mixer::Mixer ( Mixer && )

delete

Member Function Documentation

◆ findnexttag()

char Mixer::findnexttag	(	const char *	buf,
		unsigned	buflen
	)

staticprotected

Find next tag and return it (0 is returned if no tag is found)

Parameters

buf	The buffer to operate on.
buflen	length of the buffer.

Definition at line 75 of file Mixer.cpp.

Referenced by SimpleMixer::from_text().

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◆ findtag()

const char * Mixer::findtag	(	const char *	buf,
		unsigned &	buflen,
		char	tag
	)

staticprotected

Find a tag.

Parameters

buf	The buffer to operate on.
buflen	length of the buffer.
tag	character to search for.

Definition at line 60 of file Mixer.cpp.

Referenced by HelicopterMixer::from_text(), SimpleMixer::parse_control_scaler(), and SimpleMixer::parse_output_scaler().

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◆ get_control()

float Mixer::get_control	(	uint8_t	group,
		uint8_t	index
	)

protected

Invoke the client callback to fetch a control value.

Parameters

group	Control group to fetch from.
index	Control index to fetch.

Returns: The control value.

Definition at line 50 of file Mixer.cpp.

References _cb_handle, and _control_cb.

Referenced by HelicopterMixer::mix(), and MultirotorMixer::mix().

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◆ get_multirotor_count()

virtual unsigned Mixer::get_multirotor_count ( )

inlinevirtual

Reimplemented in MultirotorMixer.

Definition at line 230 of file Mixer.hpp.

◆ get_saturation_status()

virtual uint16_t Mixer::get_saturation_status ( )

inlinevirtual

Get the saturation status.

Returns: Integer bitmask containing saturation_status from multirotor_motor_limits.msg.

Reimplemented in MultirotorMixer.

Definition at line 184 of file Mixer.hpp.

◆ get_trim()

virtual unsigned Mixer::get_trim ( float * trim )

inlinevirtual

Get trim offset for this mixer.

Returns: the number of outputs this mixer feeds to

Reimplemented in MultirotorMixer, SimpleMixer, HelicopterMixer, and NullMixer.

Definition at line 214 of file Mixer.hpp.

◆ groups_required()

virtual void Mixer::groups_required ( uint32_t & groups )

inlinevirtual

Analyses the mix configuration and updates a bitmask of groups that are required.

Parameters

groups A bitmask of groups (0-31) that the mixer requires.

Reimplemented in MultirotorMixer, SimpleMixer, and HelicopterMixer.

Definition at line 192 of file Mixer.hpp.

◆ mix()

virtual unsigned Mixer::mix	(	float *	outputs,
		unsigned	space
	)

pure virtual

Perform the mixing function.

Parameters

outputs	Array into which mixed output(s) should be placed.
space	The number of available entries in the output array;

Returns: The number of entries in the output array that were populated.

Implemented in MultirotorMixer, SimpleMixer, HelicopterMixer, and NullMixer.

Referenced by Mixer().

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◆ operator=() [1/2]

Mixer& Mixer::operator= ( const Mixer & )

delete

Referenced by Mixer().

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◆ operator=() [2/2]

Mixer& Mixer::operator= ( Mixer && )

delete

◆ set_airmode()

virtual void Mixer::set_airmode ( Airmode airmode )

inlinevirtual

Set airmode.

Airmode allows the mixer to increase the total thrust in order to unsaturate the motors.

Parameters

[in] airmode Select airmode type (0 = disabled, 1 = roll/pitch, 2 = roll/pitch/yaw)

Reimplemented in MultirotorMixer.

Definition at line 228 of file Mixer.hpp.

◆ set_max_delta_out_once()

virtual void Mixer::set_max_delta_out_once ( float delta_out_max )

inlinevirtual

Empty method, only implemented for MultirotorMixer and MixerGroup class.

Parameters

[in] delta_out_max Maximum delta output.

Reimplemented in MultirotorMixer.

Definition at line 200 of file Mixer.hpp.

◆ set_thrust_factor()

virtual void Mixer::set_thrust_factor ( float val )

inlinevirtual

Reimplemented in MultirotorMixer.

Definition at line 221 of file Mixer.hpp.

◆ set_trim()

virtual unsigned Mixer::set_trim ( float trim )

inlinevirtual

Set trim offset for this mixer.

Returns: the number of outputs this mixer feeds to

Reimplemented in MultirotorMixer, SimpleMixer, HelicopterMixer, and NullMixer.

Definition at line 207 of file Mixer.hpp.

◆ skipline()

const char * Mixer::skipline	(	const char *	buf,
		unsigned &	buflen
	)

staticprotected

Skip a line.

Parameters

buf	The buffer to operate on.
buflen	length of the buffer.

Returns: 0 / OK if a line could be skipped, 1 else

Definition at line 90 of file Mixer.cpp.

Referenced by HelicopterMixer::from_text(), SimpleMixer::from_text(), MultirotorMixer::from_text(), SimpleMixer::parse_control_scaler(), and SimpleMixer::parse_output_scaler().

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◆ string_well_formed()

bool Mixer::string_well_formed	(	const char *	buf,
		unsigned &	buflen
	)

staticprotected

Check wether the string is well formed and suitable for parsing.

Definition at line 105 of file Mixer.cpp.

References debug.

Referenced by NullMixer::from_text(), HelicopterMixer::from_text(), SimpleMixer::from_text(), and MultirotorMixer::from_text().

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Member Data Documentation

◆ _cb_handle

uintptr_t Mixer::_cb_handle

protected

Definition at line 236 of file Mixer.hpp.

Referenced by SimpleMixer::check(), get_control(), and SimpleMixer::mix().

◆ _control_cb

ControlCallback Mixer::_control_cb

protected

client-supplied callback used when fetching control values

Definition at line 235 of file Mixer.hpp.

Referenced by SimpleMixer::check(), get_control(), and SimpleMixer::mix().

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

src/lib/mixer/Mixer/Mixer.hpp
src/lib/mixer/Mixer/Mixer.cpp

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ControlCallback

Member Enumeration Documentation

◆ Airmode

Constructor & Destructor Documentation

◆ Mixer() [1/3]

◆ ~Mixer()

◆ Mixer() [2/3]

◆ Mixer() [3/3]

Member Function Documentation

◆ findnexttag()

◆ findtag()

◆ get_control()

◆ get_multirotor_count()

◆ get_saturation_status()

◆ get_trim()

◆ groups_required()

◆ mix()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_airmode()

◆ set_max_delta_out_once()

◆ set_thrust_factor()

◆ set_trim()

◆ skipline()

◆ string_well_formed()

Member Data Documentation

◆ _cb_handle

◆ _control_cb