Move SteamControllers and _parseMavlinkMessage (#26)

* Move SteamControllers and _parseMavlinkMessage from mavlink_communication.dart to get_drone_information.dart * updated
UWARG · Jul 17, 2024 · fe57eb9 · fe57eb9
1 parent 1b3ce62
commit fe57eb9
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Showing 2 changed files with 91 additions and 79 deletions.
diff --git a/flutter_app/lib/modules/get_drone_information.dart b/flutter_app/lib/modules/get_drone_information.dart
@@ -1,48 +1,124 @@
 import 'dart:async';
+import 'dart:typed_data';
+import 'package:dart_mavlink/mavlink.dart';
+import 'package:dart_mavlink/dialects/common.dart';
 import 'package:imacs/modules/mavlink_communication.dart';
 
 class GetDroneInformation {
+  final MavlinkParser _parser = MavlinkParser(MavlinkDialectCommon());
   final MavlinkCommunication comm;
 
-  GetDroneInformation({required this.comm});
+  final StreamController<double> _yawStreamController =
+      StreamController<double>();
+  final StreamController<double> _pitchStreamController =
+      StreamController<double>();
+  final StreamController<double> _rollStreamController =
+      StreamController<double>();
+  final StreamController<double> _rollSpeedController =
+      StreamController<double>();
+  final StreamController<double> _pitchSpeedController =
+      StreamController<double>();
+  final StreamController<double> _yawSpeedController =
+      StreamController<double>();
+  final StreamController<int> _timeBootMsPitchController =
+      StreamController<int>();
+
+  final StreamController<int> _latStreamController = StreamController<int>();
+  final StreamController<int> _lonStreamController = StreamController<int>();
+  final StreamController<int> _altStreamController = StreamController<int>();
+
+  GetDroneInformation({required this.comm}) {
+    if (comm.connectionType == MavlinkCommunicationType.tcp) {
+      _listenTcpPort();
+    } else if (comm.connectionType == MavlinkCommunicationType.serial) {
+      _listenSerialPort();
+    }
+    _parseMavlinkMessage();
+  }
+
+  _listenTcpPort() async {
+    await comm.tcpSocketInitializationFlag.future;
+    comm.tcpSocket.listen(
+      (Uint8List data) {
+        _parser.parse(data);
+      },
+      onError: (error) {
+        print(error);
+        comm.tcpSocket.destroy();
+      },
+    );
+  }
+
+  _listenSerialPort() async {
+    comm.stream.listen(
+      (Uint8List data) {
+        _parser.parse(data);
+      },
+      onError: (error) {
+        print(error);
+        comm.serialPort.close();
+      },
+    );
+  }
+
+  void _parseMavlinkMessage() {
+    _parser.stream.listen((MavlinkFrame frame) {
+      if (frame.message is Attitude) {
+        // Append data to appropriate stream
+        var attitude = frame.message as Attitude;
+        _yawStreamController.add(attitude.yaw);
+        _pitchStreamController.add(attitude.pitch);
+        _rollStreamController.add(attitude.roll);
+        _rollSpeedController.add(attitude.rollspeed);
+        _pitchSpeedController.add(attitude.pitchspeed);
+        _yawSpeedController.add(attitude.yawspeed);
+        _timeBootMsPitchController.add(attitude.timeBootMs);
+      } else if (frame.message is GlobalPositionInt) {
+        var globalPositionInt = frame.message as GlobalPositionInt;
+        _latStreamController.add(globalPositionInt.lat);
+        _lonStreamController.add(globalPositionInt.lon);
+        _altStreamController.add(globalPositionInt.relativeAlt);
+      }
+    });
+  }
 
   Stream<double> getYawStream() {
-    return comm.yawStreamController.stream;
+    return _yawStreamController.stream;
   }
 
   Stream<double> getPitchStream() {
-    return comm.pitchStreamController.stream;
+    return _pitchStreamController.stream;
   }
 
   Stream<double> getRollStream() {
-    return comm.rollStreamController.stream;
+    return _rollStreamController.stream;
   }
 
   Stream<double> getRollSpeedStream() {
-    return comm.rollSpeedController.stream;
+    return _rollSpeedController.stream;
   }
 
   Stream<double> getPitchSpeedStream() {
-    return comm.pitchSpeedController.stream;
+    return _pitchSpeedController.stream;
   }
 
   Stream<double> getYawSpeedStream() {
-    return comm.yawSpeedController.stream;
+    return _yawSpeedController.stream;
   }
 
   Stream<int> getTimeBootMsPitchStream() {
-    return comm.timeBootMsPitchController.stream;
+    return _timeBootMsPitchController.stream;
   }
 
   Stream<int> getLatStream() {
-    return comm.latStreamController.stream;
+    return _latStreamController.stream;
   }
 
   Stream<int> getLonStream() {
-    return comm.lonStreamController.stream;
+    return _lonStreamController.stream;
   }
 
   Stream<int> getAltStream() {
-    return comm.altStreamController.stream;
+    return _altStreamController.stream;
   }
 }
diff --git a/flutter_app/lib/modules/mavlink_communication.dart b/flutter_app/lib/modules/mavlink_communication.dart
@@ -11,27 +11,6 @@ enum MavlinkCommunicationType {
 }
 
 class MavlinkCommunication {
-  final MavlinkParser _parser;
-
-  final StreamController<double> _yawStreamController =
-      StreamController<double>();
-  final StreamController<double> _pitchStreamController =
-      StreamController<double>();
-  final StreamController<double> _rollStreamController =
-      StreamController<double>();
-  final StreamController<double> _rollSpeedController =
-      StreamController<double>();
-  final StreamController<double> _pitchSpeedController =
-      StreamController<double>();
-  final StreamController<double> _yawSpeedController =
-      StreamController<double>();
-  final StreamController<int> _timeBootMsPitchController =
-      StreamController<int>();
-
-  final StreamController<int> _latStreamController = StreamController<int>();
-  final StreamController<int> _lonStreamController = StreamController<int>();
-  final StreamController<int> _altStreamController = StreamController<int>();
-
   int sequence = 0; // sequence of current message
 
   final List<MissionItem> waypointQueue = [];
@@ -46,8 +25,7 @@ class MavlinkCommunication {
 
   MavlinkCommunication(MavlinkCommunicationType connectionType,
       String connectionAddress, int tcpPort)
-      : _parser = MavlinkParser(MavlinkDialectCommon()),
-        _connectionType = connectionType {
+      : _connectionType = connectionType {
     switch (_connectionType) {
       case MavlinkCommunicationType.tcp:
         _startupTcpPort(connectionAddress, tcpPort);
@@ -56,21 +34,11 @@ class MavlinkCommunication {
         _startupSerialPort(connectionAddress);
         break;
     }
-
-    _parseMavlinkMessage();
   }
 
   _startupTcpPort(String connectionAddress, int tcpPort) async {
     // Connect to the socket
     _tcpSocket = await Socket.connect(connectionAddress, tcpPort);
-    _tcpSocket.listen((Uint8List data) {
-      _parser.parse(data);
-    }, onError: (error) {
-      // print if log does not work, I can't really test it, just avoid the warning
-      print(error);
-      _tcpSocket.destroy();
-    });
-
     _tcpSocketInitializationFlag.complete();
   }
 
@@ -79,9 +47,6 @@ class MavlinkCommunication {
     _serialPort.openReadWrite();
     SerialPortReader serialPortReader = SerialPortReader(_serialPort);
     _stream = serialPortReader.stream;
-    _stream.listen((Uint8List data) {
-      _parser.parse(data);
-    });
   }
 
   _writeToTcpPort(MavlinkFrame frame) {
@@ -92,27 +57,6 @@ class MavlinkCommunication {
     _serialPort.write(frame.serialize());
   }
 
-  _parseMavlinkMessage() {
-    _parser.stream.listen((MavlinkFrame frame) {
-      if (frame.message is Attitude) {
-        // Append data to appropriate stream
-        var attitude = frame.message as Attitude;
-        _yawStreamController.add(attitude.yaw);
-        _pitchStreamController.add(attitude.pitch);
-        _rollStreamController.add(attitude.roll);
-        _rollSpeedController.add(attitude.rollspeed);
-        _pitchSpeedController.add(attitude.pitchspeed);
-        _yawSpeedController.add(attitude.yawspeed);
-        _timeBootMsPitchController.add(attitude.timeBootMs);
-      } else if (frame.message is GlobalPositionInt) {
-        var globalPositionInt = frame.message as GlobalPositionInt;
-        _latStreamController.add(globalPositionInt.lat);
-        _lonStreamController.add(globalPositionInt.lon);
-        _altStreamController.add(globalPositionInt.relativeAlt);
-      }
-    });
-  }
-
   // Send MAVLink messages
   // Refer to the link below to see how MAVLink frames are sent
   // https://github.com/nus/dart_mavlink/blob/main/example/parameter.dart
@@ -130,15 +74,7 @@ class MavlinkCommunication {
   MavlinkCommunicationType get connectionType => _connectionType;
   Completer<void> get tcpSocketInitializationFlag =>
       _tcpSocketInitializationFlag;
-  StreamController<double> get yawStreamController => _yawStreamController;
-  StreamController<double> get pitchStreamController => _pitchStreamController;
-  StreamController<double> get rollStreamController => _rollStreamController;
-  StreamController<double> get rollSpeedController => _rollSpeedController;
-  StreamController<double> get pitchSpeedController => _pitchSpeedController;
-  StreamController<double> get yawSpeedController => _yawSpeedController;
-  StreamController<int> get timeBootMsPitchController =>
-      _timeBootMsPitchController;
-  StreamController<int> get latStreamController => _latStreamController;
-  StreamController<int> get lonStreamController => _lonStreamController;
-  StreamController<int> get altStreamController => _altStreamController;
+  Socket get tcpSocket => _tcpSocket;
+  SerialPort get serialPort => _serialPort;
+  Stream<Uint8List> get stream => _stream;
 }