mavlink_convert.h

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/*
 * Copyright 2015 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

#include <algorithm>
#include <mavros_msgs/Mavlink.h>
#include <mavconn/mavlink_dialect.h>

namespace mavros_msgs {
namespace mavlink {

inline bool convert(const mavros_msgs::Mavlink &rmsg, mavlink_message_t &mmsg)
{
        if (rmsg.payload64.size() > sizeof(mmsg.payload64) / sizeof(mmsg.payload64[0])) {
                return false;
        }

        mmsg.magic = MAVLINK_STX;
        mmsg.len = rmsg.len;
        mmsg.seq = rmsg.seq;
        mmsg.sysid = rmsg.sysid;
        mmsg.compid = rmsg.compid;
        mmsg.msgid = rmsg.msgid;
        mmsg.checksum = rmsg.checksum;
        std::copy(rmsg.payload64.begin(), rmsg.payload64.end(), mmsg.payload64);
        return true;
};

inline bool convert(const mavlink_message_t &mmsg, mavros_msgs::Mavlink &rmsg)
{
        const size_t payload64_len = (mmsg.len + 7) / 8;

        // XXX: remove this after #286
        rmsg.is_valid = true;

        rmsg.len = mmsg.len;
        rmsg.seq = mmsg.seq;
        rmsg.sysid = mmsg.sysid;
        rmsg.compid = mmsg.compid;
        rmsg.msgid = mmsg.msgid;
        rmsg.checksum = mmsg.checksum;
        rmsg.payload64 = std::move(mavros_msgs::Mavlink::_payload64_type(mmsg.payload64, mmsg.payload64 + payload64_len));

        return true;
};

};      // namespace mavlink
};      // namespace mavros_msgs