class ugcs::vsm::Mavlink_decoder¶

Overview¶

Decodes Mavlink 1.0 messages from byte stream. More…

#include <mavlink_decoder.h>

class Mavlink_decoder
{
public:
    // typedefs

    typedef Callback_proxy<void, Io_buffer::Ptr, mavlink::MESSAGE_ID_TYPE, uint8_t, uint8_t, uint32_t> Handler;
    typedef Callback_proxy<void, Io_buffer::Ptr> Raw_data_handler;

    // construction

    Mavlink_decoder();
    Mavlink_decoder(const Mavlink_decoder&);

    // methods

    template <class __Callable, typename... __Args>
    __DEFINE_CALLBACK_BUILDER_BODY(
        Make_decoder_handler,
        (Io_buffer::Ptr, mavlink::MESSAGE_ID_TYPE, uint8_t, uint8_t, uint32_t),
        (nullptr, mavlink::MESSAGE_ID::DEBUG_VALUE, mavlink::SYSTEM_ID_NONE, 0, 0)
        );

    typename __Args __DEFINE_CALLBACK_BUILDER_BODY(Make_raw_data_handler, (Io_buffer::Ptr), (nullptr));
    void Disable();
    void Register_handler(Handler handler);
    void Register_raw_data_handler(Raw_data_handler handler);
    void Decode(Io_buffer::Ptr buffer);
    size_t Get_next_read_size() const;
    const Mavlink_decoder::Stats Get_stats(int system_id);
    const Mavlink_decoder::Stats Get_common_stats();
};

Detailed Documentation¶

Decodes Mavlink 1.0 messages from byte stream.

Typedefs¶

typedef Callback_proxy<void, Io_buffer::Ptr, mavlink::MESSAGE_ID_TYPE, uint8_t, uint8_t, uint32_t> Handler

Handler type of the received Mavlink message.

Arguments are:

Payload buffer
Message id
Sending system id
Sending component id

typedef Callback_proxy<void, Io_buffer::Ptr> Raw_data_handler

Handler for the raw data going through the decoder.

Construction¶

Mavlink_decoder()

Default constructor.

Mavlink_decoder(const Mavlink_decoder&)

Delete copy constructor.

Methods¶

template <class __Callable, typename... __Args>
__DEFINE_CALLBACK_BUILDER_BODY(
    Make_decoder_handler,
    (Io_buffer::Ptr, mavlink::MESSAGE_ID_TYPE, uint8_t, uint8_t, uint32_t),
    (nullptr, mavlink::MESSAGE_ID::DEBUG_VALUE, mavlink::SYSTEM_ID_NONE, 0, 0)
    )

Convenience builder for Mavlink decoder handlers.

Convenience builder for raw data handlers.

typename __Args __DEFINE_CALLBACK_BUILDER_BODY(
    Make_raw_data_handler,
    (Io_buffer::Ptr),
    (nullptr)
    )

Decoder statistics.

void Disable()

Should be called prior to intention to delete the instance.

void Register_handler(Handler handler)

void Decode(Io_buffer::Ptr buffer)

Decode buffer from the wire.

size_t Get_next_read_size() const

Get the exact number of bytes which should be read by underlying I/O subsystem and fed to the decoder.

Returns:

Exact number of bytes to be read by next read operation.

const Mavlink_decoder::Stats Get_stats(int system_id)

Get read-only access to statistics.

Supports multiple system_ids on one connection.

Parameters:

system_id

system id to get statistics for. Use mavlink::SYSTEM_ID_ANY to get total for all system_ids.

Returns:

Readonly reference to the Stats structure for given system_id.

const Mavlink_decoder::Stats Get_common_stats()

Get read-only access to common statistics.

class ugcs::vsm::Log::Platform_logger

class ugcs::vsm::Mavlink_demuxer