class ugcs::vsm::Mavlink_demuxer¶

Overview¶

Mavlink message demultiplexer based on message, system and component identifiers. More…

#include <mavlink_demuxer.h>

class Mavlink_demuxer
{
public:
    // typedefs

    typedef signed Message_id;
    typedef int64_t System_id;
    typedef signed Component_id;
    typedef ugcs::vsm::Param_exception<Duplicate_handler_dummy_struct,> Duplicate_handler;
    typedef Callback_proxy<void, typename mavlink::Message<message_id, Extention_type>::Ptr> Handler;
    typedef Callback_proxy<bool, Io_buffer::Ptr, mavlink::MESSAGE_ID_TYPE, System_id, uint8_t, uint32_t> Default_handler;

    // structs

    struct Duplicate_handler_dummy_struct;

    // classes

    template <mavlink::MESSAGE_ID_TYPE message_id, class Extention_type>
    class Callback;

    class Callback_base;

    // fields

    static constexpr Message_id MESSAGE_ID_ANY = -1;
    static constexpr System_id SYSTEM_ID_ANY = -1;
    static constexpr Component_id COMPONENT_ID_ANY = -1;

    // construction

    Mavlink_demuxer(const Mavlink_demuxer&);

    // methods

    void Disable();
    void Register_default_handler(Default_handler handler);

    template <mavlink::MESSAGE_ID_TYPE message_id, class Extention_type>
    Key Register_handler(
        Handler<message_id, Extention_type> handler,
        System_id system_id = SYSTEM_ID_ANY,
        Component_id component_id = COMPONENT_ID_ANY,
        Request_processor::Ptr processor = nullptr
        );

    bool Demux(
        Io_buffer::Ptr buffer,
        mavlink::MESSAGE_ID_TYPE message_id,
        System_id system_id,
        uint8_t component_id,
        uint32_t request_id
        );

    void Unregister_handler(Key&);
};

Detailed Documentation¶

Mavlink message demultiplexer based on message, system and component identifiers.

Supposed to be conveniently used with Mavlink_decoder. Messages from different mavlink extensions but with same identifiers can not be demultiplexed simultaneously.

Typedefs¶

typedef signed Message_id

Helper type for Mavlink message id which is able to hold special values.

typedef int64_t System_id

Helper type for Mavlink system id which is able to hold special values.

typedef signed Component_id

Helper type for Mavlink component id which is able to hold special values.

typedef Callback_proxy<void, typename mavlink::Message<message_id, Extention_type>::Ptr> Handler

Handler type for the specific demultiplexed Mavlink message.

typedef Callback_proxy<bool, Io_buffer::Ptr, mavlink::MESSAGE_ID_TYPE, System_id, uint8_t, uint32_t> Default_handler

Default handler which is called for all Mavlink messages which does not have a handler.

Io_buffer contains the raw payload data.

Returns:

true message will be resubmitted to demuxer for further processing, otherwise false.

Fields¶

static constexpr Message_id MESSAGE_ID_ANY = -1

Special value representing any Mavlink message id.

static constexpr System_id SYSTEM_ID_ANY = -1

Special value representing any Mavlink system id.

static constexpr Component_id COMPONENT_ID_ANY = -1

Special value representing any Mavlink component id.

Construction¶

Mavlink_demuxer(const Mavlink_demuxer&)

Delete copy constructor.

Methods¶

void Disable()

Should be called prior to intention to delete the instance.

void Register_default_handler(Default_handler handler)

Called when more specific handler does not exist. Always called from the thread, which calls Demux method.

template <mavlink::MESSAGE_ID_TYPE message_id, class Extention_type>
Key Register_handler(
    Handler<message_id, Extention_type> handler,
    System_id system_id = SYSTEM_ID_ANY,
    Component_id component_id = COMPONENT_ID_ANY,
    Request_processor::Ptr processor = nullptr
    )

Parameters:

handler	Handler taking specific Mavlink message.
system_id	System id to call the handler for, or SYSTEM_ID_ANY to call the handler for any system id.
component_id	Component id to call the handler for, or COMPONENT_ID_ANY to call the handler for any component id.
processor	If given, specifies request processor in which context the handler should be executed, otherwise handler is executed from the thread which calls Demux method.

Returns:

Valid registration key which can be used to unregister the handler later.

bool Demux(
    Io_buffer::Ptr buffer,
    mavlink::MESSAGE_ID_TYPE message_id,
    System_id system_id,
    uint8_t component_id,
    uint32_t request_id
    )

Demultiplex Mavlink message.

Returns:

true if message was handled by some non-default handler, otherwise false.

void Unregister_handler(Key&)

Unregister handler using registration key.

Key is invalidated upon exit from the method.

class ugcs::vsm::Mavlink_decoder

struct ugcs::vsm::Mavlink_demuxer::Duplicate_handler_dummy_struct