.. _program_listing_file__tmp_ws_src_mavros_mavros_msgs_include_mavros_msgs_mavlink_convert.hpp:

Program Listing for File mavlink_convert.hpp
============================================

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

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

.. code-block:: cpp

   //
   // Copyright 2015,2016,2021 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_MSGS__MAVLINK_CONVERT_HPP_
   #define MAVROS_MSGS__MAVLINK_CONVERT_HPP_
   
   #include <mavconn/mavlink_dialect.hpp>
   #include <mavros_msgs/msg/mavlink.hpp>
   
   #include <algorithm>
   
   namespace mavros_msgs
   {
   namespace mavlink
   {
   
   using ::mavlink::mavlink_message_t;
   using mavros_msgs::msg::Mavlink;
   
   // [[[cog:
   // FIELD_NAMES = [
   //   "magic",
   //   "len",
   //   "incompat_flags",
   //   "compat_flags",
   //   "seq",
   //   "sysid",
   //   "compid",
   //   "msgid",
   //   "checksum",
   // ]
   // ]]]
   // [[[end]]] (checksum: d41d8cd98f00b204e9800998ecf8427e)
   
   // NOTE(vooon): Ignore impossible warning as
   // memcpy() should work with unaligned pointers without any trouble.
   //
   // warning: taking address of packed member of ‘mavlink::__mavlink_message’
   // may result in an unaligned pointer value
   #pragma GCC diagnostic push
   #pragma GCC diagnostic ignored "-Waddress-of-packed-member"
   
   inline bool convert(const Mavlink & rmsg, mavlink_message_t & mmsg)
   {
     if (rmsg.payload64.size() > sizeof(mmsg.payload64) / sizeof(mmsg.payload64[0])) {
       return false;
     }
   
     if (!rmsg.signature.empty() && rmsg.signature.size() != sizeof(mmsg.signature)) {
       return false;
     }
   
     // [[[cog:
     // for f in FIELD_NAMES:
     //     cog.outl(f"mmsg.{f} = rmsg.{f};")
     // ]]]
     mmsg.magic = rmsg.magic;
     mmsg.len = rmsg.len;
     mmsg.incompat_flags = rmsg.incompat_flags;
     mmsg.compat_flags = rmsg.compat_flags;
     mmsg.seq = rmsg.seq;
     mmsg.sysid = rmsg.sysid;
     mmsg.compid = rmsg.compid;
     mmsg.msgid = rmsg.msgid;
     mmsg.checksum = rmsg.checksum;
     // [[[end]]] (checksum: 0b66f0fc1cd46db0f18a2429c56a6b8c)
     std::copy(rmsg.payload64.begin(), rmsg.payload64.end(), mmsg.payload64);
     std::copy(rmsg.signature.begin(), rmsg.signature.end(), mmsg.signature);
   
     return true;
   }
   
   inline bool convert(
     const mavlink_message_t & mmsg, Mavlink & rmsg,
     uint8_t framing_status = Mavlink::FRAMING_OK)
   {
     const size_t payload64_len = (mmsg.len + 7) / 8;
   
     rmsg.framing_status = framing_status;
   
     // [[[cog:
     // for f in FIELD_NAMES:
     //     cog.outl(f"rmsg.{f} = mmsg.{f};")
     // ]]]
     rmsg.magic = mmsg.magic;
     rmsg.len = mmsg.len;
     rmsg.incompat_flags = mmsg.incompat_flags;
     rmsg.compat_flags = mmsg.compat_flags;
     rmsg.seq = mmsg.seq;
     rmsg.sysid = mmsg.sysid;
     rmsg.compid = mmsg.compid;
     rmsg.msgid = mmsg.msgid;
     rmsg.checksum = mmsg.checksum;
     // [[[end]]] (checksum: 64ef6c1af60c622ed427e005d8ca4f2a)
     rmsg.payload64.assign(
       mmsg.payload64,
       mmsg.payload64 + payload64_len);
   
     // copy signature block only if message is signed
     if (mmsg.incompat_flags & MAVLINK_IFLAG_SIGNED) {
       rmsg.signature.assign(
         mmsg.signature,
         mmsg.signature + sizeof(mmsg.signature));
     } else {
       rmsg.signature.clear();
     }
   
     return true;
   }
   
   #pragma GCC diagnostic pop
   
   }  // namespace mavlink
   }  // namespace mavros_msgs
   
   #endif  // MAVROS_MSGS__MAVLINK_CONVERT_HPP_