.. _program_listing_file__tmp_ws_src_mavros_mavros_include_mavros_plugin_filter.hpp:

Program Listing for File plugin_filter.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mavros_mavros_include_mavros_plugin_filter.hpp>` (``/tmp/ws/src/mavros/mavros/include/mavros/plugin_filter.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright 2021 Vladimir Ermakov.
    *
    * This file is part of the mavros package and subject to the license terms
    * in the top-level LICENSE file of the mavros repository.
    * https://github.com/mavlink/mavros/tree/master/LICENSE.md
    */
   #pragma once
   
   #ifndef MAVROS__PLUGIN_FILTER_HPP_
   #define MAVROS__PLUGIN_FILTER_HPP_
   
   #include <mavconn/interface.hpp>
   #include <mavros/mavros_uas.hpp>
   #include <mavros/plugin.hpp>
   
   namespace mavros
   {
   namespace plugin
   {
   namespace filter
   {
   using mavros::plugin::Filter;
   using mavros::uas::UAS;
   using UASPtr = UAS::SharedPtr;
   using mavconn::Framing;
   
   
   class AnyOk : public Filter
   {
   public:
     inline bool operator()(
       UASPtr uas, const mavlink::mavlink_message_t * cmsg,
       const Framing framing) override
     {
       (void)uas;
       (void)cmsg;
       return framing == Framing::ok;
     }
   };
   
   class SystemAndOk : public Filter
   {
   public:
     inline bool operator()(
       UASPtr uas, const mavlink::mavlink_message_t * cmsg,
       const Framing framing) override
     {
       return framing == Framing::ok && uas->is_my_target(cmsg->sysid);
     }
   };
   
   //  system/component ids
   class ComponentAndOk : public Filter
   {
   public:
     inline bool operator()(
       UASPtr uas, const mavlink::mavlink_message_t * cmsg,
       const Framing framing) override
     {
       return framing == Framing::ok && uas->is_my_target(cmsg->sysid, cmsg->compid);
     }
   };
   
   }   // namespace filter
   }   // namespace plugin
   }   // namespace mavros
   
   
   #endif  // MAVROS__PLUGIN_FILTER_HPP_