Class MAVConnInterface

Nested Relationships

Nested Types

Inheritance Relationships

Derived Types

Class Documentation

class MAVConnInterface

Generic mavlink interface.

Subclassed by mavconn::MAVConnSerial, mavconn::MAVConnTCPClient, mavconn::MAVConnTCPServer, mavconn::MAVConnUDP

Public Types

using ReceivedCb = std::function<void(const mavlink::mavlink_message_t *message, const Framing framing)>
using ClosedCb = std::function<void(void)>
using Ptr = std::shared_ptr<MAVConnInterface>
using ConstPtr = std::shared_ptr<MAVConnInterface const>
using WeakPtr = std::weak_ptr<MAVConnInterface>

Public Functions

explicit MAVConnInterface(uint8_t system_id = 1, uint8_t component_id = MAV_COMP_ID_UDP_BRIDGE)
Parameters:

  • system_id – [in] sysid for send_message

  • component_id – [in] compid for send_message

virtual void connect(const ReceivedCb &cb_handle_message, const ClosedCb &cb_handle_closed_port = ClosedCb()) = 0

Establish connection, automatically called by open_url()

virtual void close() = 0

Close connection.

virtual void send_message(const mavlink::mavlink_message_t *message) = 0

Send message (mavlink_message_t)

Can be used to forward messages from other connection channel.

Note

Does not do finalization!

Throws:

std::length_error – On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters:

*message – [in] not changed

inline virtual void send_message(const mavlink::Message &message)

Send message (child of mavlink::Message)

Does serialization inside. System and Component ID = from this object.

Throws:

std::length_error – On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters:

&message – [in] not changed

virtual void send_message(const mavlink::Message &message, const uint8_t src_compid) = 0

Send message (child of mavlink::Message)

Does serialization inside. System ID = from this object. Component ID passed by argument.

Throws:

std::length_error – On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters:

  • &message – [in] not changed

  • src_compid – [in] sets the component ID of the message source

virtual void send_bytes(const uint8_t *bytes, size_t length) = 0

Send raw bytes (for some quirks)

Throws:

std::length_error – On exceeding Tx queue limit (MAX_TXQ_SIZE)

void send_message_ignore_drop(const mavlink::mavlink_message_t *message)

Send message and ignore possible drop due to Tx queue limit.

inline void send_message_ignore_drop(const mavlink::Message &message)

Send message and ignore possible drop due to Tx queue limit.

System and Component ID = from this object.

void send_message_ignore_drop(const mavlink::Message &message, const uint8_t src_compid)

Send message and ignore possible drop due to Tx queue limit.

System ID = from this object. Component ID passed by argument.

virtual mavlink::mavlink_status_t get_status()
virtual IOStat get_iostat()
virtual bool is_open() = 0
inline uint8_t get_system_id()
inline void set_system_id(uint8_t sysid)
inline uint8_t get_component_id()
inline void set_component_id(uint8_t compid)
void set_protocol_version(Protocol pver)

Set protocol used for encoding mavlink::Mavlink messages.

Protocol get_protocol_version()

Public Members

ReceivedCb message_received_cb

Message receive callback.

ClosedCb port_closed_cb

Port closed notification callback.

Public Static Functions

static Ptr open_url(std::string url, uint8_t system_id = 1, uint8_t component_id = MAV_COMP_ID_UDP_BRIDGE, const ReceivedCb &cb_handle_message = ReceivedCb(), const ClosedCb &cb_handle_closed_port = ClosedCb())

Construct connection from URL.

Supported URL schemas:

  • serial://

  • udp://

  • tcp://

  • tcp-l://

Please see user’s documentation for details.

Parameters:

  • url – [in] resource locator

  • system_id – [in] optional system id

  • component_id – [in] optional component id

Returns:

Ptr to constructed interface class, or throw DeviceError if error occured.

static Ptr open_url_no_connect(std::string url, uint8_t system_id = 1, uint8_t component_id = MAV_COMP_ID_UDP_BRIDGE)

version of open_url() which do not perform connect()

static std::vector<std::string> get_known_dialects()

Protected Functions

inline mavlink::mavlink_status_t *get_status_p()
inline mavlink::mavlink_message_t *get_buffer_p()
void parse_buffer(const char *pfx, uint8_t *buf, const size_t bufsize, size_t bytes_received)

Parse buffer and emit massage_received.

void iostat_tx_add(size_t bytes)
void iostat_rx_add(size_t bytes)
void log_recv(const char *pfx, mavlink::mavlink_message_t &msg, Framing framing)
void log_send(const char *pfx, const mavlink::mavlink_message_t *msg)
void log_send_obj(const char *pfx, const mavlink::Message &msg)

Protected Attributes

uint8_t sys_id

Connection System Id.

uint8_t comp_id

Connection Component Id.

size_t conn_id

Channel number used for logging.

Protected Static Attributes

static constexpr size_t MAX_PACKET_SIZE = MAVLINK_MAX_PACKET_LEN + 16

Maximum mavlink packet size + some extra bytes for padding.

static constexpr size_t MAX_TXQ_SIZE = 1000

Maximum count of transmission buffers.

static std::unordered_map<mavlink::msgid_t, const mavlink::mavlink_msg_entry_t*> message_entries

This map merge all dialect mavlink_msg_entry_t structs. Needed for packet parser.

struct IOStat

Public Members

size_t tx_total_bytes

total bytes transferred

size_t rx_total_bytes

total bytes received

float tx_speed

current transfer speed [B/s]

float rx_speed

current receive speed [B/s]