Classes | Namespaces | Defines | Typedefs | Functions | Variables | Friends
Mavconn

MAVConn connection handling library. More...

Classes

class  mavconn::DeviceError
 Common exception for communication error. More...
struct  mavconn::MAVConnInterface::IOStat
class  mavconn::MAVConnInterface
 Generic mavlink interface. More...
class  mavconn::MAVConnSerial
 Serial interface. More...
class  mavconn::MAVConnTCPClient
 TCP client interface. More...
class  mavconn::MAVConnTCPServer
 TCP server interface. More...
class  mavconn::MAVConnUDP
 UDP interface. More...
struct  mavconn::MsgBuffer
 Message buffer for internal use in libmavconn. More...

Namespaces

namespace  mavconn

Defines

#define _DIALECT(name)   _DIALECT_CONCAT(name)
#define _DIALECT_ardupilotmega   1
#define _DIALECT_ASLUAV   11
#define _DIALECT_autoquad   2
#define _DIALECT_common   3
#define _DIALECT_CONCAT(name)   _DIALECT_ ## name
#define _DIALECT_matrixpilot   4
#define _DIALECT_minimal   5
#define _DIALECT_paparazzi   12
#define _DIALECT_pixhawk   6 /* removed */
#define _DIALECT_sensesoar   10 /* removed */
#define _DIALECT_slugs   7
#define _DIALECT_test   8
#define _DIALECT_ualberta   9
#define MAVLINK_DIALECT   common
#define MAVLINK_GET_CHANNEL_BUFFER
#define MAVLINK_GET_CHANNEL_STATUS
#define PFX   "mavconn: "
#define PFXd   "mavconn: serial%d: "
#define PFXd   "mavconn: tcp%d: "
#define PFXd   "mavconn: udp%d: "

Typedefs

typedef boost::shared_ptr
< MAVConnInterface const > 
mavconn::MAVConnInterface::ConstPtr
typedef std::lock_guard
< std::recursive_mutex > 
mavconn::lock_guard
typedef sig2::signal< void(const
mavlink_message_t *message,
uint8_t system_id, uint8_t
component_id) 
mavconn::MAVConnInterface::MessageSig )
typedef boost::shared_ptr
< MAVConnInterface > 
mavconn::MAVConnInterface::Ptr
typedef boost::weak_ptr
< MAVConnInterface > 
mavconn::MAVConnInterface::WeakPtr

Functions

void mavconn::MAVConnTCPServer::async_accept_end (boost::system::error_code)
void mavconn::MAVConnSerial::async_read_end (boost::system::error_code, size_t bytes_transferred)
void mavconn::MAVConnUDP::async_receive_end (boost::system::error_code, size_t bytes_transferred)
void mavconn::MAVConnTCPClient::async_receive_end (boost::system::error_code, size_t bytes_transferred)
void mavconn::MAVConnTCPClient::async_send_end (boost::system::error_code, size_t bytes_transferred)
void mavconn::MAVConnUDP::async_sendto_end (boost::system::error_code, size_t bytes_transferred)
void mavconn::MAVConnSerial::async_write_end (boost::system::error_code, size_t bytes_transferred)
static int mavconn::MAVConnInterface::channes_available ()
void mavconn::MAVConnTCPServer::client_closed (boost::weak_ptr< MAVConnTCPClient > weak_instp)
void mavconn::MAVConnTCPClient::client_connected (int server_channel)
void mavconn::MAVConnSerial::close ()
 Close connection.
void mavconn::MAVConnUDP::close ()
 Close connection.
void mavconn::MAVConnTCPClient::close ()
 Close connection.
void mavconn::MAVConnTCPServer::close ()
 Close connection.
virtual void mavconn::MAVConnInterface::close ()=0
 Close connection.
static void mavconn::MAVConnInterface::delete_channel (int chan)
template<typename T >
 mavconn::DeviceError::DeviceError (const char *module, T msg)
void mavconn::MAVConnTCPServer::do_accept ()
void mavconn::MAVConnSerial::do_read ()
void mavconn::MAVConnTCPClient::do_recv ()
void mavconn::MAVConnUDP::do_recvfrom ()
void mavconn::MAVConnTCPClient::do_send (bool check_tx_state)
void mavconn::MAVConnUDP::do_sendto (bool check_tx_state)
void mavconn::MAVConnSerial::do_write (bool check_tx_state)
uint8_t * mavconn::MsgBuffer::dpos ()
int mavconn::MAVConnInterface::get_channel ()
uint8_t mavconn::MAVConnInterface::get_component_id ()
IOStat mavconn::MAVConnTCPServer::get_iostat ()
virtual IOStat mavconn::MAVConnInterface::get_iostat ()
mavlink_status_t mavconn::MAVConnTCPServer::get_status ()
virtual mavlink_status_t mavconn::MAVConnInterface::get_status ()
uint8_t mavconn::MAVConnInterface::get_system_id ()
void mavconn::MAVConnInterface::iostat_rx_add (size_t bytes)
void mavconn::MAVConnInterface::iostat_tx_add (size_t bytes)
bool mavconn::MAVConnSerial::is_open ()
bool mavconn::MAVConnUDP::is_open ()
bool mavconn::MAVConnTCPClient::is_open ()
bool mavconn::MAVConnTCPServer::is_open ()
virtual bool mavconn::MAVConnInterface::is_open ()=0
template<typename T >
static std::string mavconn::DeviceError::make_message (const char *module, T msg)
 mavconn::MAVConnInterface::MAVConnInterface (const MAVConnInterface &)
 mavconn::MAVConnInterface::MAVConnInterface (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE)
 mavconn::MAVConnSerial::MAVConnSerial (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE, std::string device="/dev/ttyACM0", unsigned baudrate=57600)
 mavconn::MAVConnTCPClient::MAVConnTCPClient (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE, std::string server_host="localhost", unsigned short server_port=5760)
 mavconn::MAVConnTCPClient::MAVConnTCPClient (uint8_t system_id, uint8_t component_id, boost::asio::io_service &server_io)
 mavconn::MAVConnTCPServer::MAVConnTCPServer (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE, std::string bind_host="localhost", unsigned short bind_port=5760)
 mavconn::MAVConnUDP::MAVConnUDP (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE, std::string bind_host="localhost", unsigned short bind_port=14555, std::string remote_host="", unsigned short remote_port=14550)
mavlink_message_tmavlink_get_channel_buffer (uint8_t chan)
mavlink_status_tmavlink_get_channel_status (uint8_t chan)
static std::string mavconn::DeviceError::msg_to_string (const char *description)
static std::string mavconn::DeviceError::msg_to_string (int errnum)
static std::string mavconn::DeviceError::msg_to_string (boost::system::system_error &err)
 mavconn::MsgBuffer::MsgBuffer ()
 mavconn::MsgBuffer::MsgBuffer (const mavlink_message_t *msg)
 Buffer constructor from mavlink_message_t.
 mavconn::MsgBuffer::MsgBuffer (const uint8_t *bytes, ssize_t nbytes)
 Buffer constructor for send_bytes()
ssize_t mavconn::MsgBuffer::nbytes ()
static int mavconn::MAVConnInterface::new_channel ()
MsgBuffer * mavconn::MAVConnInterface::new_msgbuffer (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
static Ptr mavconn::MAVConnInterface::open_url (std::string url, uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE)
 Construct connection from URL.
void mavconn::MAVConnTCPServer::recv_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
static bool mavconn::resolve_address_tcp (io_service &io, int chan, std::string host, unsigned short port, tcp::endpoint &ep)
static bool mavconn::resolve_address_udp (io_service &io, int chan, std::string host, unsigned short port, udp::endpoint &ep)
void mavconn::MAVConnSerial::send_bytes (const uint8_t *bytes, size_t length)
 Send raw bytes (for some quirks)
void mavconn::MAVConnUDP::send_bytes (const uint8_t *bytes, size_t length)
 Send raw bytes (for some quirks)
void mavconn::MAVConnTCPClient::send_bytes (const uint8_t *bytes, size_t length)
 Send raw bytes (for some quirks)
void mavconn::MAVConnTCPServer::send_bytes (const uint8_t *bytes, size_t length)
 Send raw bytes (for some quirks)
virtual void mavconn::MAVConnInterface::send_bytes (const uint8_t *bytes, size_t length)=0
 Send raw bytes (for some quirks)
void mavconn::MAVConnSerial::send_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
 Send message Can be used in message_received signal.
void mavconn::MAVConnUDP::send_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
 Send message Can be used in message_received signal.
void mavconn::MAVConnTCPClient::send_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
 Send message Can be used in message_received signal.
void mavconn::MAVConnTCPServer::send_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
 Send message Can be used in message_received signal.
void mavconn::MAVConnInterface::send_message (const mavlink_message_t *message)
 Send message with default link system/component id.
virtual void mavconn::MAVConnInterface::send_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)=0
 Send message Can be used in message_received signal.
void mavconn::MAVConnInterface::set_component_id (uint8_t compid)
void mavconn::MAVConnInterface::set_system_id (uint8_t sysid)
static void mavconn::url_parse_host (std::string host, std::string &host_out, int &port_out, const std::string def_host, const int def_port)
static void mavconn::url_parse_query (std::string query, uint8_t &sysid, uint8_t &compid)
static MAVConnInterface::Ptr mavconn::url_parse_serial (std::string path, std::string query, uint8_t system_id, uint8_t component_id)
static MAVConnInterface::Ptr mavconn::url_parse_tcp_client (std::string host, std::string query, uint8_t system_id, uint8_t component_id)
static MAVConnInterface::Ptr mavconn::url_parse_tcp_server (std::string host, std::string query, uint8_t system_id, uint8_t component_id)
static MAVConnInterface::Ptr mavconn::url_parse_udp (std::string hosts, std::string query, uint8_t system_id, uint8_t component_id)
virtual mavconn::MAVConnInterface::~MAVConnInterface ()
 mavconn::MAVConnSerial::~MAVConnSerial ()
 mavconn::MAVConnTCPClient::~MAVConnTCPClient ()
 mavconn::MAVConnTCPServer::~MAVConnTCPServer ()
 mavconn::MAVConnUDP::~MAVConnUDP ()
virtual mavconn::MsgBuffer::~MsgBuffer ()

Variables

boost::asio::ip::tcp::acceptor mavconn::MAVConnTCPServer::acceptor
boost::shared_ptr
< MAVConnTCPClient > 
mavconn::MAVConnTCPServer::acceptor_client
static std::set< int > mavconn::MAVConnInterface::allocated_channels
boost::asio::ip::udp::endpoint mavconn::MAVConnUDP::bind_ep
boost::asio::ip::tcp::endpoint mavconn::MAVConnTCPServer::bind_ep
int mavconn::MAVConnInterface::channel
static std::recursive_mutex mavconn::MAVConnInterface::channel_mutex
std::list< boost::shared_ptr
< MAVConnTCPClient > > 
mavconn::MAVConnTCPServer::client_list
uint8_t mavconn::MAVConnInterface::comp_id
uint8_t mavconn::MsgBuffer::data [MAX_SIZE]
boost::asio::io_service mavconn::MAVConnSerial::io_service
boost::asio::io_service mavconn::MAVConnUDP::io_service
boost::asio::io_service mavconn::MAVConnTCPClient::io_service
boost::asio::io_service mavconn::MAVConnTCPServer::io_service
std::thread mavconn::MAVConnSerial::io_thread
std::thread mavconn::MAVConnUDP::io_thread
std::thread mavconn::MAVConnTCPClient::io_thread
std::thread mavconn::MAVConnTCPServer::io_thread
std::unique_ptr
< boost::asio::io_service::work > 
mavconn::MAVConnUDP::io_work
std::unique_ptr
< boost::asio::io_service::work > 
mavconn::MAVConnTCPClient::io_work
std::unique_ptr
< boost::asio::io_service::work > 
mavconn::MAVConnTCPServer::io_work
std::recursive_mutex mavconn::MAVConnInterface::iostat_mutex
std::chrono::time_point
< steady_clock > 
mavconn::MAVConnInterface::last_iostat
boost::asio::ip::udp::endpoint mavconn::MAVConnUDP::last_remote_ep
size_t mavconn::MAVConnInterface::last_rx_total_bytes
size_t mavconn::MAVConnInterface::last_tx_total_bytes
ssize_t mavconn::MsgBuffer::len
static mavlink_message_t m_mavlink_buffer [MAVLINK_COMM_NUM_BUFFERS]
static mavlink_status_t m_mavlink_status [MAVLINK_COMM_NUM_BUFFERS]
static constexpr ssize_t mavconn::MsgBuffer::MAX_SIZE = MAVLINK_MAX_PACKET_LEN + 2 + 7
 Maximum buffer size with padding for CRC bytes (263 + 2 + align padding)
MessageSig mavconn::MAVConnInterface::message_received
 Message receive signal.
std::recursive_mutex mavconn::MAVConnSerial::mutex
std::recursive_mutex mavconn::MAVConnUDP::mutex
std::recursive_mutex mavconn::MAVConnTCPClient::mutex
std::recursive_mutex mavconn::MAVConnTCPServer::mutex
sig2::signal< void()> mavconn::MAVConnInterface::port_closed
ssize_t mavconn::MsgBuffer::pos
boost::asio::ip::udp::endpoint mavconn::MAVConnUDP::remote_ep
std::atomic< bool > mavconn::MAVConnUDP::remote_exists
uint8_t mavconn::MAVConnSerial::rx_buf [MsgBuffer::MAX_SIZE]
uint8_t mavconn::MAVConnUDP::rx_buf [MsgBuffer::MAX_SIZE]
uint8_t mavconn::MAVConnTCPClient::rx_buf [MsgBuffer::MAX_SIZE]
float mavconn::MAVConnInterface::IOStat::rx_speed
 current receive speed [B/s]
size_t mavconn::MAVConnInterface::IOStat::rx_total_bytes
 total bytes received
std::atomic< size_t > mavconn::MAVConnInterface::rx_total_bytes
boost::asio::serial_port mavconn::MAVConnSerial::serial_dev
boost::asio::ip::tcp::endpoint mavconn::MAVConnTCPClient::server_ep
boost::asio::ip::udp::socket mavconn::MAVConnUDP::socket
boost::asio::ip::tcp::socket mavconn::MAVConnTCPClient::socket
uint8_t mavconn::MAVConnInterface::sys_id
std::atomic< bool > mavconn::MAVConnSerial::tx_in_progress
std::atomic< bool > mavconn::MAVConnUDP::tx_in_progress
std::atomic< bool > mavconn::MAVConnTCPClient::tx_in_progress
std::list< MsgBuffer * > mavconn::MAVConnSerial::tx_q
std::list< MsgBuffer * > mavconn::MAVConnUDP::tx_q
std::list< MsgBuffer * > mavconn::MAVConnTCPClient::tx_q
float mavconn::MAVConnInterface::IOStat::tx_speed
 current transfer speed [B/s]
size_t mavconn::MAVConnInterface::IOStat::tx_total_bytes
 total bytes transferred
std::atomic< size_t > mavconn::MAVConnInterface::tx_total_bytes

Friends

class mavconn::MAVConnTCPClient::MAVConnTCPServer

Detailed Description

MAVConn connection handling library.

This lib provide simple interface to MAVLink enabled devices such as autopilots.


Define Documentation

#define _DIALECT (   name)    _DIALECT_CONCAT(name)

Definition at line 41 of file mavlink_dialect.h.

#define _DIALECT_ardupilotmega   1

Definition at line 43 of file mavlink_dialect.h.

#define _DIALECT_ASLUAV   11

Definition at line 53 of file mavlink_dialect.h.

#define _DIALECT_autoquad   2

Definition at line 44 of file mavlink_dialect.h.

#define _DIALECT_common   3

Definition at line 45 of file mavlink_dialect.h.

#define _DIALECT_CONCAT (   name)    _DIALECT_ ## name

Definition at line 42 of file mavlink_dialect.h.

#define _DIALECT_matrixpilot   4

Definition at line 46 of file mavlink_dialect.h.

#define _DIALECT_minimal   5

Definition at line 47 of file mavlink_dialect.h.

#define _DIALECT_paparazzi   12

Definition at line 54 of file mavlink_dialect.h.

#define _DIALECT_pixhawk   6 /* removed */

Definition at line 48 of file mavlink_dialect.h.

#define _DIALECT_sensesoar   10 /* removed */

Definition at line 52 of file mavlink_dialect.h.

#define _DIALECT_slugs   7

Definition at line 49 of file mavlink_dialect.h.

#define _DIALECT_test   8

Definition at line 50 of file mavlink_dialect.h.

#define _DIALECT_ualberta   9

Definition at line 51 of file mavlink_dialect.h.

#define MAVLINK_DIALECT   common

Definition at line 21 of file mavlink_dialect.h.

Definition at line 29 of file mavlink_dialect.h.

Definition at line 28 of file mavlink_dialect.h.

#define PFX   "mavconn: "

Definition at line 30 of file interface.cpp.

#define PFXd   "mavconn: serial%d: "

Definition at line 31 of file serial.cpp.

#define PFXd   "mavconn: tcp%d: "

Definition at line 32 of file tcp.cpp.

#define PFXd   "mavconn: udp%d: "

Definition at line 32 of file udp.cpp.


Typedef Documentation

typedef boost::shared_ptr<MAVConnInterface const> mavconn::MAVConnInterface::ConstPtr

Definition at line 96 of file interface.h.

typedef std::lock_guard< std::recursive_mutex > mavconn::lock_guard

Definition at line 29 of file serial.cpp.

typedef sig2::signal<void(const mavlink_message_t *message, uint8_t system_id, uint8_t component_id) mavconn::MAVConnInterface::MessageSig)

Definition at line 94 of file interface.h.

typedef boost::shared_ptr<MAVConnInterface> mavconn::MAVConnInterface::Ptr

Definition at line 95 of file interface.h.

typedef boost::weak_ptr<MAVConnInterface> mavconn::MAVConnInterface::WeakPtr

Definition at line 97 of file interface.h.


Function Documentation

void mavconn::MAVConnTCPServer::async_accept_end ( boost::system::error_code  ) [private]

Definition at line 374 of file tcp.cpp.

void mavconn::MAVConnSerial::async_read_end ( boost::system::error_code  ,
size_t  bytes_transferred 
) [private]

Definition at line 134 of file serial.cpp.

void mavconn::MAVConnUDP::async_receive_end ( boost::system::error_code  ,
size_t  bytes_transferred 
) [private]

Definition at line 180 of file udp.cpp.

void mavconn::MAVConnTCPClient::async_receive_end ( boost::system::error_code  ,
size_t  bytes_transferred 
) [private]

Definition at line 176 of file tcp.cpp.

void mavconn::MAVConnTCPClient::async_send_end ( boost::system::error_code  ,
size_t  bytes_transferred 
) [private]

Definition at line 219 of file tcp.cpp.

void mavconn::MAVConnUDP::async_sendto_end ( boost::system::error_code  ,
size_t  bytes_transferred 
) [private]

Definition at line 230 of file udp.cpp.

void mavconn::MAVConnSerial::async_write_end ( boost::system::error_code  ,
size_t  bytes_transferred 
) [private]

Definition at line 177 of file serial.cpp.

int mavconn::MAVConnInterface::channes_available ( ) [static, protected]

Definition at line 74 of file interface.cpp.

void mavconn::MAVConnTCPServer::client_closed ( boost::weak_ptr< MAVConnTCPClient weak_instp) [private]

Definition at line 401 of file tcp.cpp.

void mavconn::MAVConnTCPClient::client_connected ( int  server_channel) [private]

This special function called by TCP server when connection accepted.

Definition at line 99 of file tcp.cpp.

void mavconn::MAVConnSerial::close ( ) [virtual]

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 70 of file serial.cpp.

void mavconn::MAVConnUDP::close ( ) [virtual]

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 104 of file udp.cpp.

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 111 of file tcp.cpp.

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 284 of file tcp.cpp.

virtual void mavconn::MAVConnInterface::close ( ) [pure virtual]
void mavconn::MAVConnInterface::delete_channel ( int  chan) [static, protected]

Definition at line 68 of file interface.cpp.

template<typename T >
mavconn::DeviceError::DeviceError ( const char *  module,
msg 
) [inline]

Construct error.

Definition at line 62 of file interface.h.

Definition at line 362 of file tcp.cpp.

void mavconn::MAVConnSerial::do_read ( void  ) [private]

Definition at line 124 of file serial.cpp.

Definition at line 166 of file tcp.cpp.

Definition at line 169 of file udp.cpp.

void mavconn::MAVConnTCPClient::do_send ( bool  check_tx_state) [private]

Definition at line 200 of file tcp.cpp.

void mavconn::MAVConnUDP::do_sendto ( bool  check_tx_state) [private]

Definition at line 210 of file udp.cpp.

void mavconn::MAVConnSerial::do_write ( bool  check_tx_state) [private]

Definition at line 158 of file serial.cpp.

uint8_t* mavconn::MsgBuffer::dpos ( ) [inline]

Definition at line 68 of file msgbuffer.h.

Definition at line 152 of file interface.h.

Definition at line 155 of file interface.h.

MAVConnInterface::IOStat mavconn::MAVConnTCPServer::get_iostat ( ) [virtual]

Reimplemented from mavconn::MAVConnInterface.

Definition at line 324 of file tcp.cpp.

MAVConnInterface::IOStat mavconn::MAVConnInterface::get_iostat ( ) [virtual]

Reimplemented in mavconn::MAVConnTCPServer.

Definition at line 111 of file interface.cpp.

Reimplemented from mavconn::MAVConnInterface.

Definition at line 301 of file tcp.cpp.

Reimplemented in mavconn::MAVConnTCPServer.

Definition at line 106 of file interface.cpp.

Definition at line 153 of file interface.h.

void mavconn::MAVConnInterface::iostat_rx_add ( size_t  bytes) [protected]

Definition at line 141 of file interface.cpp.

void mavconn::MAVConnInterface::iostat_tx_add ( size_t  bytes) [protected]

Definition at line 136 of file interface.cpp.

bool mavconn::MAVConnSerial::is_open ( ) [inline, virtual]

Implements mavconn::MAVConnInterface.

Definition at line 49 of file serial.h.

bool mavconn::MAVConnUDP::is_open ( ) [inline, virtual]

Implements mavconn::MAVConnInterface.

Definition at line 52 of file udp.h.

bool mavconn::MAVConnTCPClient::is_open ( ) [inline, virtual]

Implements mavconn::MAVConnInterface.

Definition at line 55 of file tcp.h.

bool mavconn::MAVConnTCPServer::is_open ( ) [inline, virtual]

Implements mavconn::MAVConnInterface.

Definition at line 105 of file tcp.h.

virtual bool mavconn::MAVConnInterface::is_open ( ) [pure virtual]
template<typename T >
static std::string mavconn::DeviceError::make_message ( const char *  module,
msg 
) [inline, static]

Definition at line 67 of file interface.h.

mavconn::MAVConnInterface::MAVConnInterface ( uint8_t  system_id = 1,
uint8_t  component_id = MAV_COMP_ID_UDP_BRIDGE 
)
Parameters:
[in]system_idsysid for send_message
[in]component_idcompid for send_message

Definition at line 39 of file interface.cpp.

mavconn::MAVConnSerial::MAVConnSerial ( uint8_t  system_id = 1,
uint8_t  component_id = MAV_COMP_ID_UDP_BRIDGE,
std::string  device = "/dev/ttyACM0",
unsigned  baudrate = 57600 
)

Open and run serial link.

Parameters:
[in]deviceTTY device path
[in]baudrateserial baudrate

Definition at line 34 of file serial.cpp.

mavconn::MAVConnTCPClient::MAVConnTCPClient ( uint8_t  system_id = 1,
uint8_t  component_id = MAV_COMP_ID_UDP_BRIDGE,
std::string  server_host = "localhost",
unsigned short  server_port = 5760 
)

Create generic TCP client (connect to the server)

Parameters:
id]server_addr remote host
id]server_port remote port

Definition at line 61 of file tcp.cpp.

mavconn::MAVConnTCPClient::MAVConnTCPClient ( uint8_t  system_id,
uint8_t  component_id,
boost::asio::io_service &  server_io 
) [explicit]

Special client variation for use in MAVConnTCPServer

Definition at line 91 of file tcp.cpp.

mavconn::MAVConnTCPServer::MAVConnTCPServer ( uint8_t  system_id = 1,
uint8_t  component_id = MAV_COMP_ID_UDP_BRIDGE,
std::string  bind_host = "localhost",
unsigned short  bind_port = 5760 
)
Parameters:
id]server_addr bind host
id]server_port bind port

Definition at line 250 of file tcp.cpp.

mavconn::MAVConnUDP::MAVConnUDP ( uint8_t  system_id = 1,
uint8_t  component_id = MAV_COMP_ID_UDP_BRIDGE,
std::string  bind_host = "localhost",
unsigned short  bind_port = 14555,
std::string  remote_host = "",
unsigned short  remote_port = 14550 
)
Parameters:
id]bind_host bind host
id]bind_port bind port
id]remote_host remote host (optional)
id]remote_port remote port (optional)

Definition at line 59 of file udp.cpp.

Internal function to give access to the channel buffer for each channel

Internal function to give access to the channel status for each channel

static std::string mavconn::DeviceError::msg_to_string ( const char *  description) [inline, static]

Definition at line 73 of file interface.h.

static std::string mavconn::DeviceError::msg_to_string ( int  errnum) [inline, static]

Definition at line 77 of file interface.h.

static std::string mavconn::DeviceError::msg_to_string ( boost::system::system_error &  err) [inline, static]

Definition at line 81 of file interface.h.

Definition at line 35 of file msgbuffer.h.

mavconn::MsgBuffer::MsgBuffer ( const mavlink_message_t msg) [inline, explicit]

Buffer constructor from mavlink_message_t.

Definition at line 43 of file msgbuffer.h.

mavconn::MsgBuffer::MsgBuffer ( const uint8_t *  bytes,
ssize_t  nbytes 
) [inline]

Buffer constructor for send_bytes()

Parameters:
[in]nbytesshould be less than MAX_SIZE

Definition at line 55 of file msgbuffer.h.

ssize_t mavconn::MsgBuffer::nbytes ( ) [inline]

Definition at line 72 of file msgbuffer.h.

int mavconn::MAVConnInterface::new_channel ( ) [static, protected]

Definition at line 52 of file interface.cpp.

MsgBuffer * mavconn::MAVConnInterface::new_msgbuffer ( const mavlink_message_t message,
uint8_t  sysid,
uint8_t  compid 
) [protected]

This helper function construct new MsgBuffer from message.

Definition at line 79 of file interface.cpp.

MAVConnInterface::Ptr mavconn::MAVConnInterface::open_url ( std::string  url,
uint8_t  system_id = 1,
uint8_t  component_id = MAV_COMP_ID_UDP_BRIDGE 
) [static]

Construct connection from URL.

Supported URL schemas:

  • serial://
  • udp://
  • tcp://
  • tcp-l://

Please see user's documentation for details.

Parameters:
[in]urlresource locator
[in]system_idoptional system id
[in]component_idoptional component id
Returns:
Ptr to constructed interface class, or throw DeviceError if error occured.

Definition at line 288 of file interface.cpp.

void mavconn::MAVConnTCPServer::recv_message ( const mavlink_message_t message,
uint8_t  sysid,
uint8_t  compid 
) [private]

Definition at line 415 of file tcp.cpp.

static bool mavconn::resolve_address_tcp ( io_service &  io,
int  chan,
std::string  host,
unsigned short  port,
tcp::endpoint &  ep 
) [static]

Definition at line 35 of file tcp.cpp.

static bool mavconn::resolve_address_udp ( io_service &  io,
int  chan,
std::string  host,
unsigned short  port,
udp::endpoint &  ep 
) [static]

Definition at line 35 of file udp.cpp.

void mavconn::MAVConnSerial::send_bytes ( const uint8_t *  bytes,
size_t  length 
) [virtual]

Send raw bytes (for some quirks)

Implements mavconn::MAVConnInterface.

Definition at line 89 of file serial.cpp.

void mavconn::MAVConnUDP::send_bytes ( const uint8_t *  bytes,
size_t  length 
) [virtual]

Send raw bytes (for some quirks)

Implements mavconn::MAVConnInterface.

Definition at line 124 of file udp.cpp.

void mavconn::MAVConnTCPClient::send_bytes ( const uint8_t *  bytes,
size_t  length 
) [virtual]

Send raw bytes (for some quirks)

Implements mavconn::MAVConnInterface.

Definition at line 131 of file tcp.cpp.

void mavconn::MAVConnTCPServer::send_bytes ( const uint8_t *  bytes,
size_t  length 
) [virtual]

Send raw bytes (for some quirks)

Implements mavconn::MAVConnInterface.

Definition at line 346 of file tcp.cpp.

virtual void mavconn::MAVConnInterface::send_bytes ( const uint8_t *  bytes,
size_t  length 
) [pure virtual]

Send raw bytes (for some quirks)

Implemented in mavconn::MAVConnTCPServer, mavconn::MAVConnTCPClient, mavconn::MAVConnUDP, and mavconn::MAVConnSerial.

void mavconn::MAVConnSerial::send_message ( const mavlink_message_t message,
uint8_t  sysid,
uint8_t  compid 
) [virtual]

Send message Can be used in message_received signal.

Parameters:
[in]*messagenot changed
[in]sysidmessage sys id
[in]compidmessage component id

Implements mavconn::MAVConnInterface.

Definition at line 104 of file serial.cpp.

void mavconn::MAVConnUDP::send_message ( const mavlink_message_t message,
uint8_t  sysid,
uint8_t  compid 
) [virtual]

Send message Can be used in message_received signal.

Parameters:
[in]*messagenot changed
[in]sysidmessage sys id
[in]compidmessage component id

Implements mavconn::MAVConnInterface.

Definition at line 144 of file udp.cpp.

void mavconn::MAVConnTCPClient::send_message ( const mavlink_message_t message,
uint8_t  sysid,
uint8_t  compid 
) [virtual]

Send message Can be used in message_received signal.

Parameters:
[in]*messagenot changed
[in]sysidmessage sys id
[in]compidmessage component id

Implements mavconn::MAVConnInterface.

Definition at line 146 of file tcp.cpp.

void mavconn::MAVConnTCPServer::send_message ( const mavlink_message_t message,
uint8_t  sysid,
uint8_t  compid 
) [virtual]

Send message Can be used in message_received signal.

Parameters:
[in]*messagenot changed
[in]sysidmessage sys id
[in]compidmessage component id

Implements mavconn::MAVConnInterface.

Definition at line 354 of file tcp.cpp.

void mavconn::MAVConnInterface::send_message ( const mavlink_message_t message) [inline]

Send message with default link system/component id.

Definition at line 123 of file interface.h.

virtual void mavconn::MAVConnInterface::send_message ( const mavlink_message_t message,
uint8_t  sysid,
uint8_t  compid 
) [pure virtual]

Send message Can be used in message_received signal.

Parameters:
[in]*messagenot changed
[in]sysidmessage sys id
[in]compidmessage component id

Implemented in mavconn::MAVConnTCPServer, mavconn::MAVConnTCPClient, mavconn::MAVConnUDP, and mavconn::MAVConnSerial.

void mavconn::MAVConnInterface::set_component_id ( uint8_t  compid) [inline]

Definition at line 156 of file interface.h.

void mavconn::MAVConnInterface::set_system_id ( uint8_t  sysid) [inline]

Definition at line 154 of file interface.h.

static void mavconn::url_parse_host ( std::string  host,
std::string &  host_out,
int &  port_out,
const std::string  def_host,
const int  def_port 
) [static]

Parse host:port pairs

Definition at line 149 of file interface.cpp.

static void mavconn::url_parse_query ( std::string  query,
uint8_t &  sysid,
uint8_t &  compid 
) [static]

Parse ?ids=sid,cid

Definition at line 185 of file interface.cpp.

static MAVConnInterface::Ptr mavconn::url_parse_serial ( std::string  path,
std::string  query,
uint8_t  system_id,
uint8_t  component_id 
) [static]

Definition at line 216 of file interface.cpp.

static MAVConnInterface::Ptr mavconn::url_parse_tcp_client ( std::string  host,
std::string  query,
uint8_t  system_id,
uint8_t  component_id 
) [static]

Definition at line 258 of file interface.cpp.

static MAVConnInterface::Ptr mavconn::url_parse_tcp_server ( std::string  host,
std::string  query,
uint8_t  system_id,
uint8_t  component_id 
) [static]

Definition at line 273 of file interface.cpp.

static MAVConnInterface::Ptr mavconn::url_parse_udp ( std::string  hosts,
std::string  query,
uint8_t  system_id,
uint8_t  component_id 
) [static]

Definition at line 231 of file interface.cpp.

virtual mavconn::MAVConnInterface::~MAVConnInterface ( ) [inline, virtual]

Definition at line 111 of file interface.h.

Definition at line 66 of file serial.cpp.

Definition at line 107 of file tcp.cpp.

Definition at line 280 of file tcp.cpp.

Definition at line 100 of file udp.cpp.

virtual mavconn::MsgBuffer::~MsgBuffer ( ) [inline, virtual]

Definition at line 63 of file msgbuffer.h.


Variable Documentation

boost::asio::ip::tcp::acceptor mavconn::MAVConnTCPServer::acceptor [private]

Definition at line 112 of file tcp.h.

boost::shared_ptr<MAVConnTCPClient> mavconn::MAVConnTCPServer::acceptor_client [private]

Definition at line 115 of file tcp.h.

std::set< int > mavconn::MAVConnInterface::allocated_channels [static, private]

Definition at line 201 of file interface.h.

boost::asio::ip::udp::endpoint mavconn::MAVConnUDP::bind_ep [private]

Definition at line 63 of file udp.h.

boost::asio::ip::tcp::endpoint mavconn::MAVConnTCPServer::bind_ep [private]

Definition at line 113 of file tcp.h.

Definition at line 179 of file interface.h.

std::recursive_mutex mavconn::MAVConnInterface::channel_mutex [static, private]

Definition at line 200 of file interface.h.

std::list<boost::shared_ptr<MAVConnTCPClient> > mavconn::MAVConnTCPServer::client_list [private]

Definition at line 116 of file tcp.h.

Definition at line 181 of file interface.h.

uint8_t mavconn::MsgBuffer::data[MAX_SIZE]

Definition at line 31 of file msgbuffer.h.

boost::asio::io_service mavconn::MAVConnSerial::io_service [private]

Definition at line 49 of file serial.h.

boost::asio::io_service mavconn::MAVConnUDP::io_service [private]

Definition at line 52 of file udp.h.

boost::asio::io_service mavconn::MAVConnTCPClient::io_service [private]

Definition at line 59 of file tcp.h.

boost::asio::io_service mavconn::MAVConnTCPServer::io_service [private]

Definition at line 105 of file tcp.h.

std::thread mavconn::MAVConnSerial::io_thread [private]

Definition at line 53 of file serial.h.

std::thread mavconn::MAVConnUDP::io_thread [private]

Definition at line 57 of file udp.h.

std::thread mavconn::MAVConnTCPClient::io_thread [private]

Definition at line 61 of file tcp.h.

std::thread mavconn::MAVConnTCPServer::io_thread [private]

Definition at line 110 of file tcp.h.

std::unique_ptr<boost::asio::io_service::work> mavconn::MAVConnUDP::io_work [private]

Definition at line 56 of file udp.h.

std::unique_ptr<boost::asio::io_service::work> mavconn::MAVConnTCPClient::io_work [private]

Definition at line 60 of file tcp.h.

std::unique_ptr<boost::asio::io_service::work> mavconn::MAVConnTCPServer::io_work [private]

Definition at line 109 of file tcp.h.

std::recursive_mutex mavconn::MAVConnInterface::iostat_mutex [private]

Definition at line 204 of file interface.h.

std::chrono::time_point<steady_clock> mavconn::MAVConnInterface::last_iostat [private]

Definition at line 206 of file interface.h.

boost::asio::ip::udp::endpoint mavconn::MAVConnUDP::last_remote_ep [private]

Definition at line 62 of file udp.h.

Definition at line 205 of file interface.h.

Definition at line 205 of file interface.h.

Definition at line 32 of file msgbuffer.h.

Definition at line 27 of file mavlink_helpers.cpp.

Definition at line 26 of file mavlink_helpers.cpp.

constexpr ssize_t mavconn::MsgBuffer::MAX_SIZE = MAVLINK_MAX_PACKET_LEN + 2 + 7 [static]

Maximum buffer size with padding for CRC bytes (263 + 2 + align padding)

Definition at line 30 of file msgbuffer.h.

Message receive signal.

Definition at line 145 of file interface.h.

std::recursive_mutex mavconn::MAVConnSerial::mutex [private]

Definition at line 59 of file serial.h.

std::recursive_mutex mavconn::MAVConnUDP::mutex [private]

Definition at line 68 of file udp.h.

std::recursive_mutex mavconn::MAVConnTCPClient::mutex [private]

Definition at line 69 of file tcp.h.

std::recursive_mutex mavconn::MAVConnTCPServer::mutex [private]

Definition at line 117 of file tcp.h.

Definition at line 146 of file interface.h.

Definition at line 33 of file msgbuffer.h.

boost::asio::ip::udp::endpoint mavconn::MAVConnUDP::remote_ep [private]

Definition at line 61 of file udp.h.

std::atomic<bool> mavconn::MAVConnUDP::remote_exists [private]

Definition at line 59 of file udp.h.

uint8_t mavconn::MAVConnSerial::rx_buf[MsgBuffer::MAX_SIZE] [private]

Definition at line 58 of file serial.h.

uint8_t mavconn::MAVConnUDP::rx_buf[MsgBuffer::MAX_SIZE] [private]

Definition at line 67 of file udp.h.

uint8_t mavconn::MAVConnTCPClient::rx_buf[MsgBuffer::MAX_SIZE] [private]

Definition at line 68 of file tcp.h.

current receive speed [B/s]

Definition at line 103 of file interface.h.

total bytes received

Definition at line 101 of file interface.h.

std::atomic<size_t> mavconn::MAVConnInterface::rx_total_bytes [private]

Definition at line 203 of file interface.h.

boost::asio::serial_port mavconn::MAVConnSerial::serial_dev [private]

Definition at line 54 of file serial.h.

boost::asio::ip::tcp::endpoint mavconn::MAVConnTCPClient::server_ep [private]

Definition at line 64 of file tcp.h.

boost::asio::ip::udp::socket mavconn::MAVConnUDP::socket [private]

Definition at line 60 of file udp.h.

boost::asio::ip::tcp::socket mavconn::MAVConnTCPClient::socket [private]

Definition at line 63 of file tcp.h.

uint8_t mavconn::MAVConnInterface::sys_id [protected]

Definition at line 180 of file interface.h.

std::atomic<bool> mavconn::MAVConnSerial::tx_in_progress [private]

Definition at line 56 of file serial.h.

std::atomic<bool> mavconn::MAVConnUDP::tx_in_progress [private]

Definition at line 65 of file udp.h.

std::atomic<bool> mavconn::MAVConnTCPClient::tx_in_progress [private]

Definition at line 66 of file tcp.h.

std::list<MsgBuffer*> mavconn::MAVConnSerial::tx_q [private]

Definition at line 57 of file serial.h.

std::list<MsgBuffer*> mavconn::MAVConnUDP::tx_q [private]

Definition at line 66 of file udp.h.

std::list<MsgBuffer*> mavconn::MAVConnTCPClient::tx_q [private]

Definition at line 67 of file tcp.h.

current transfer speed [B/s]

Definition at line 102 of file interface.h.

total bytes transferred

Definition at line 100 of file interface.h.

std::atomic<size_t> mavconn::MAVConnInterface::tx_total_bytes [private]

Definition at line 203 of file interface.h.


Friends

friend class MAVConnTCPServer [friend]

Definition at line 55 of file tcp.h.



libmavconn
Author(s): Vladimir Ermakov
autogenerated on Sat Jun 8 2019 19:55:13