dfti::Server Class Reference

UDP server for vehicle state data. More...

#include <server.hh>

Inheritance diagram for dfti::Server:

Collaboration diagram for dfti::Server:

Public Slots
void	getRIOData (RIOData data)
	Slot to receive data from the RIO.
void	getUADCData (uADCData data)
	Slot to receive data from the Micro Air Data Computer.
void	getVN200Data (VN200Data data)
	Slot to receive data from the VN-200 INS.
void	writeData (void)
	Slot to write data.

Public Member Functions
	Server (Settings *_settings, QObject *_parent=nullptr)
	Constructor. More...
	~Server ()
	Dtor.
void	enableUADC (uADC *adc)
	Enable Micro Air Data Computer Sensor. More...
void	enableRIO (RIO *rio)
	Enable Remote I/O unit. More...
void	enableVN200 (VN200 *ins)
	Enable VN-200 INS Sensor. More...
void	start (void)
	Start server. More...

Detailed Description

UDP server for vehicle state data.

For online system identification and similar use cases, we need the vehicle state data available. This class implements a UDP server that server the StateData structure at a user-specified rate. The data is sent to a user-specified IP address and port; these default to localhost and 2701.

The native byte order and 1-byte padding is used for the structure; no conversions are made to network byte order. The easiest way to receive the data is to bind a socket to the address and port and cast the bytes to the data structure; in C++ static_cast<StateData> should work.

For Python, code similar to the following may be used:

import socket
import struct

BUF_SIZE = 128  # Make sure this is larger than sizeof(StateData)!
SOCK_ADDR = "127.0.0.1"
SOCK_PORT = 2701

if __name__ == '__main__':
    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    sock.bind((SOCK_ADDR, SOCK_PORT))

    fmt = '=QffffffffffffffffBffffffffff'
    while True:
        data, _ = recvfrom(BUF_SIZE)
        unpacked_data = struct.unpack(fmt, data)
        # Do stuff with unpacked_data, which is a tuple.

Constructor & Destructor Documentation

dfti::Server::Server ( Settings *  _settings, QObject *  _parent = nullptr  )

explicit

Constructor.

Parameters

_settings	Pointer to Settings object.
_parent	Pointer to parent QObject.

Member Function Documentation

void dfti::Server::enableRIO

(

RIO *

rio

)

Enable Remote I/O unit.

Parameters

rio	QPointer to RIO object.

void dfti::Server::enableUADC

(

uADC *

adc

)

Enable Micro Air Data Computer Sensor.

Parameters

adc	QPointer to uADC object.

void dfti::Server::enableVN200

(

VN200 *

ins

)

Enable VN-200 INS Sensor.

Parameters

ins	QPointer to VN200 object.

void dfti::Server::start

(

void

)

Start server.

Connects QTimers to the writeData slot.

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

• server.hh
• server.cc