CFCBMain::connectToFCB is a method that establishes a communication link to a flight control board (FCB) using MAVLink.

It determines the connection type—serial, UDP, or TCP—from a configuration file and initiates the appropriate connection via the m_mavlink_sdk interface.

Definition

95:135:/mnt/8a619ce7-cd3f-4520-af65-7991f16410f7/public_versions/drone_engage/drone_engage_mavlink/src/fcb_main.cpp
bool CFCBMain::connectToFCB() {
  m_connection_type = getConnectionType();

  switch (m_connection_type) {
  case CONNECTION_TYPE_SERIAL:
    // Read 'dynamic' flag from config
    // Log initialization
    m_mavlink_sdk.connectSerial(
        config["port"].get<std::string>().c_str(),
        config["baudrate"].get<int>(),
        dynamic);
    return true;

  case CONNECTION_TYPE_UDP:
    std::cout << "UDP Connection Initializing" << std::endl;
    m_mavlink_sdk.connectUDP(
        config["ip"].get<std::string>().c_str(),
        config["port"].get<int>());
    return true;

  case CONNECTION_TYPE_TCP:
    std::cout << "TCP Connection Initializing" << std::endl;
    m_mavlink_sdk.connectTCP(
        config["ip"].get<std::string>().c_str(),
        config["port"].get<int>());
    return true;

  default:
    throw "Connection to FCB is not in (serial, udp, tcp)";
  }

  return false;
}

Returns: bool — Always returns true on valid connection types; throws an exception otherwise.
Side effects:
- Initializes a connection via m_mavlink_sdk using serial, UDP, or TCP.
- Outputs console messages indicating connection type and status.
- May throw a string literal exception if the connection type is invalid.
Dependencies:
- m_jsonConfig: JSON configuration containing connection parameters under "fcb_connection_uri".
- getConnectionType(): Infers connection type from the "type" field in config.
- m_mavlink_sdk: External SDK instance responsible for actual MAVLink transport setup.

The method relies entirely on configuration data parsed earlier in CFCBMain::init() and assumes m_jsonConfig is already loaded.

Example Usages

No direct callers are found in the codebase, suggesting connectToFCB() may be intended for future use, part of an incomplete integration, or called indirectly via base class interfaces not captured in static analysis.

Despite this, its design implies it should be invoked after configuration initialization and before MAVLink message exchange begins—likely during system startup in CFCBMain::init() or a derived initialization sequence.

Given the lack of usage traces, it appears to be defined but currently unused in the active code path.

Notes

The function always returns true for valid cases but includes a return false; after the switch block, which is unreachable due to the throw in default. This suggests a minor logic redundancy.
It throws a string literal (throw "Connection to FCB...") which is not type-safe; modern C++ practices recommend throwing objects derived from std::exception.
The method assumes the existence and correctness of specific keys in m_jsonConfig, but only minimal validation is performed—highlighted by the TODO comment about adding checks for JSON fields.

Definition

Example Usages

Notes

See Also