Mavconn

MAVConn connection handling library. More...

Collaboration diagram for Mavconn:

Namespaces
	mavconn

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...

Macros
#define	CONSOLE_BRIDGE_logDebug(fmt, ...)   console_bridge::log(__FILE__, __LINE__, console_bridge::CONSOLE_BRIDGE_LOG_DEBUG, fmt, ##__VA_ARGS__)
#define	CONSOLE_BRIDGE_logError(fmt, ...)   console_bridge::log(__FILE__, __LINE__, console_bridge::CONSOLE_BRIDGE_LOG_ERROR, fmt, ##__VA_ARGS__)
#define	CONSOLE_BRIDGE_logInform(fmt, ...)   console_bridge::log(__FILE__, __LINE__, console_bridge::CONSOLE_BRIDGE_LOG_INFO, fmt, ##__VA_ARGS__)
#define	CONSOLE_BRIDGE_logWarn(fmt, ...)   console_bridge::log(__FILE__, __LINE__, console_bridge::CONSOLE_BRIDGE_LOG_WARN, fmt, ##__VA_ARGS__)
#define	GET_IO_SERVICE(s)   ((s).get_io_service())
#define	PFX   "mavconn: "
#define	PFX   "mavconn: udp"
#define	PFX   "mavconn: serial"
#define	PFX   "mavconn: tcp"
#define	PFXd   PFX "%zu: "
#define	PFXd   PFX "%zu: "
#define	PFXd   PFX "%zu: "

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

Enumerations
enum	mavconn::Framing : uint8_t { mavconn::Framing::incomplete = mavlink::MAVLINK_FRAMING_INCOMPLETE, mavconn::Framing::ok = mavlink::MAVLINK_FRAMING_OK, mavconn::Framing::bad_crc = mavlink::MAVLINK_FRAMING_BAD_CRC, mavconn::Framing::bad_signature = mavlink::MAVLINK_FRAMING_BAD_SIGNATURE }
	Rx packer framing status. (same as mavlink::mavlink_framing_t) More...
enum	mavconn::Protocol : uint8_t { mavconn::Protocol::V10 = 1, mavconn::Protocol::V20 = 2 }
	MAVLink protocol version. More...

Functions
void	mavconn::MAVConnTCPServer::client_closed (std::weak_ptr< MAVConnTCPClient > weak_instp)
void	mavconn::MAVConnTCPClient::client_connected (size_t server_channel)
void	mavconn::MAVConnSerial::close () override
	Close connection. More...
void	mavconn::MAVConnUDP::close () override
	Close connection. More...
void	mavconn::MAVConnTCPClient::close () override
	Close connection. More...
void	mavconn::MAVConnTCPServer::close () override
	Close connection. More...
virtual void	mavconn::MAVConnInterface::close ()=0
	Close connection. More...
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 ()
mavlink::mavlink_message_t *	mavconn::MAVConnInterface::get_buffer_p ()
uint8_t	mavconn::MAVConnInterface::get_component_id ()
IOStat	mavconn::MAVConnTCPServer::get_iostat () override
virtual IOStat	mavconn::MAVConnInterface::get_iostat ()
static std::vector< std::string >	mavconn::MAVConnInterface::get_known_dialects ()
Protocol	mavconn::MAVConnInterface::get_protocol_version ()
std::string	mavconn::MAVConnUDP::get_remote_endpoint () const
mavlink::mavlink_status_t	mavconn::MAVConnTCPServer::get_status () override
virtual mavlink::mavlink_status_t	mavconn::MAVConnInterface::get_status ()
mavlink::mavlink_status_t *	mavconn::MAVConnInterface::get_status_p ()
uint8_t	mavconn::MAVConnInterface::get_system_id ()
static void	mavconn::MAVConnInterface::init_msg_entry ()
void	mavconn::MAVConnInterface::iostat_rx_add (size_t bytes)
void	mavconn::MAVConnInterface::iostat_tx_add (size_t bytes)
bool	mavconn::MAVConnSerial::is_open () override
bool	mavconn::MAVConnUDP::is_open () override
bool	mavconn::MAVConnTCPClient::is_open () override
bool	mavconn::MAVConnTCPServer::is_open () override
virtual bool	mavconn::MAVConnInterface::is_open ()=0
void	mavconn::MAVConnInterface::log_recv (const char *pfx, mavlink::mavlink_message_t &msg, Framing framing)
void	mavconn::MAVConnInterface::log_send (const char *pfx, const mavlink::mavlink_message_t *msg)
void	mavconn::MAVConnInterface::log_send_obj (const char *pfx, const mavlink::Message &msg)
template<typename T >
static std::string	mavconn::DeviceError::make_message (const char *module, T msg)
	mavconn::MAVConnInterface::MAVConnInterface (const MAVConnInterface &)=delete
	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=DEFAULT_DEVICE, unsigned baudrate=DEFAULT_BAUDRATE, bool hwflow=false)
	mavconn::MAVConnTCPClient::MAVConnTCPClient (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE, std::string server_host=DEFAULT_SERVER_HOST, unsigned short server_port=DEFAULT_SERVER_PORT)
	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=DEFAULT_BIND_HOST, unsigned short bind_port=DEFAULT_BIND_PORT)
	mavconn::MAVConnUDP::MAVConnUDP (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE, std::string bind_host=DEFAULT_BIND_HOST, unsigned short bind_port=DEFAULT_BIND_PORT, std::string remote_host=DEFAULT_REMOTE_HOST, unsigned short remote_port=DEFAULT_REMOTE_PORT)
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::mavlink_message_t *msg)
	Buffer constructor from mavlink_message_t. More...
	mavconn::MsgBuffer::MsgBuffer (const mavlink::Message &obj, mavlink::mavlink_status_t *status, uint8_t sysid, uint8_t compid)
	Buffer constructor for mavlink::Message derived object. More...
	mavconn::MsgBuffer::MsgBuffer (const uint8_t *bytes, ssize_t nbytes)
	Buffer constructor for send_bytes() More...
ssize_t	mavconn::MsgBuffer::nbytes ()
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. More...
void	mavconn::MAVConnInterface::parse_buffer (const char *pfx, uint8_t *buf, const size_t bufsize, size_t bytes_received)
void	mavconn::MAVConnTCPServer::recv_message (const mavlink::mavlink_message_t *message, const Framing framing)
static bool	mavconn::resolve_address_tcp (io_service &io, size_t chan, std::string host, unsigned short port, tcp::endpoint &ep)
static bool	mavconn::resolve_address_udp (io_service &io, size_t chan, std::string host, unsigned short port, udp::endpoint &ep)
void	mavconn::MAVConnSerial::send_bytes (const uint8_t *bytes, size_t length) override
	Send raw bytes (for some quirks) More...
void	mavconn::MAVConnUDP::send_bytes (const uint8_t *bytes, size_t length) override
	Send raw bytes (for some quirks) More...
void	mavconn::MAVConnTCPClient::send_bytes (const uint8_t *bytes, size_t length) override
	Send raw bytes (for some quirks) More...
void	mavconn::MAVConnTCPServer::send_bytes (const uint8_t *bytes, size_t length) override
	Send raw bytes (for some quirks) More...
virtual void	mavconn::MAVConnInterface::send_bytes (const uint8_t *bytes, size_t length)=0
	Send raw bytes (for some quirks) More...
void	mavconn::MAVConnSerial::send_message (const mavlink::mavlink_message_t *message) override
	Send message (mavlink_message_t) More...
void	mavconn::MAVConnSerial::send_message (const mavlink::Message &message, const uint8_t source_compid) override
	Send message (child of mavlink::Message) More...
void	mavconn::MAVConnUDP::send_message (const mavlink::mavlink_message_t *message) override
	Send message (mavlink_message_t) More...
void	mavconn::MAVConnTCPClient::send_message (const mavlink::mavlink_message_t *message) override
	Send message (mavlink_message_t) More...
void	mavconn::MAVConnUDP::send_message (const mavlink::Message &message, const uint8_t source_compid) override
	Send message (child of mavlink::Message) More...
void	mavconn::MAVConnTCPClient::send_message (const mavlink::Message &message, const uint8_t source_compid) override
	Send message (child of mavlink::Message) More...
void	mavconn::MAVConnTCPServer::send_message (const mavlink::mavlink_message_t *message) override
	Send message (mavlink_message_t) More...
void	mavconn::MAVConnTCPServer::send_message (const mavlink::Message &message, const uint8_t source_compid) override
	Send message (child of mavlink::Message) More...
virtual void	mavconn::MAVConnInterface::send_message (const mavlink::mavlink_message_t *message)=0
	Send message (mavlink_message_t) More...
virtual void	mavconn::MAVConnInterface::send_message (const mavlink::Message &message)
	Send message (child of mavlink::Message) More...
virtual void	mavconn::MAVConnInterface::send_message (const mavlink::Message &message, const uint8_t src_compid)=0
	Send message (child of mavlink::Message) More...
void	mavconn::MAVConnInterface::send_message_ignore_drop (const mavlink::mavlink_message_t *message)
	Send message and ignore possible drop due to Tx queue limit. More...
void	mavconn::MAVConnInterface::send_message_ignore_drop (const mavlink::Message &message)
	Send message and ignore possible drop due to Tx queue limit. More...
void	mavconn::MAVConnInterface::send_message_ignore_drop (const mavlink::Message &message, const uint8_t src_compid)
	Send message and ignore possible drop due to Tx queue limit. More...
void	mavconn::MAVConnInterface::set_component_id (uint8_t compid)
void	mavconn::MAVConnInterface::set_protocol_version (Protocol pver)
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, bool hwflow)
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, bool is_udpb, bool permanent_broadcast)
virtual	mavconn::MAVConnSerial::~MAVConnSerial ()
virtual	mavconn::MAVConnTCPClient::~MAVConnTCPClient ()
virtual	mavconn::MAVConnTCPServer::~MAVConnTCPServer ()
virtual	mavconn::MAVConnUDP::~MAVConnUDP ()
virtual	mavconn::MsgBuffer::~MsgBuffer ()

Variables
boost::asio::ip::tcp::acceptor	mavconn::MAVConnTCPServer::acceptor
boost::asio::ip::udp::endpoint	mavconn::MAVConnUDP::bind_ep
boost::asio::ip::tcp::endpoint	mavconn::MAVConnTCPServer::bind_ep
static constexpr auto	mavconn::MAVConnUDP::BROADCAST_REMOTE_HOST = "***i want broadcast***"
	Markers for broadcast modes. Not valid domain names. More...
std::list< std::shared_ptr< MAVConnTCPClient > >	mavconn::MAVConnTCPServer::client_list
uint8_t	mavconn::MAVConnInterface::comp_id
	Connection Component Id. More...
size_t	mavconn::MAVConnInterface::conn_id
	Channel number used for logging. More...
static std::atomic< size_t >	mavconn::MAVConnInterface::conn_id_counter {0}
	monotonic counter (increment only) More...
uint8_t	mavconn::MsgBuffer::data [MAX_SIZE]
static constexpr auto	mavconn::MAVConnSerial::DEFAULT_BAUDRATE = 57600
static constexpr auto	mavconn::MAVConnUDP::DEFAULT_BIND_HOST = "localhost"
static constexpr auto	mavconn::MAVConnTCPServer::DEFAULT_BIND_HOST = "localhost"
static constexpr auto	mavconn::MAVConnUDP::DEFAULT_BIND_PORT = 14555
static constexpr auto	mavconn::MAVConnTCPServer::DEFAULT_BIND_PORT = 5760
static constexpr auto	mavconn::MAVConnSerial::DEFAULT_DEVICE = "/dev/ttyACM0"
static constexpr auto	mavconn::MAVConnUDP::DEFAULT_REMOTE_HOST = ""
static constexpr auto	mavconn::MAVConnUDP::DEFAULT_REMOTE_PORT = 14550
static constexpr auto	mavconn::MAVConnTCPClient::DEFAULT_SERVER_HOST = "localhost"
static constexpr auto	mavconn::MAVConnTCPClient::DEFAULT_SERVER_PORT = 5760
static std::once_flag	mavconn::MAVConnInterface::init_flag
	init_msg_entry() once flag More...
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::atomic< bool >	mavconn::MAVConnTCPClient::is_destroying
std::atomic< bool >	mavconn::MAVConnTCPServer::is_destroying
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
mavlink::mavlink_message_t	mavconn::MAVConnInterface::m_buffer
mavlink::mavlink_status_t	mavconn::MAVConnInterface::m_mavlink_status
mavlink::mavlink_status_t	mavconn::MAVConnInterface::m_parse_status
static constexpr auto	mavconn::MAV_COMP_ID_UDP_BRIDGE = 240
	Same as mavlink::common::MAV_COMPONENT::COMP_ID_UDP_BRIDGE. More...
static constexpr size_t	mavconn::MAVConnInterface::MAX_PACKET_SIZE = MAVLINK_MAX_PACKET_LEN + 16
	Maximum mavlink packet size + some extra bytes for padding. More...
static constexpr ssize_t	mavconn::MsgBuffer::MAX_SIZE = MAVLINK_MAX_PACKET_LEN + 16
	Maximum buffer size with padding for CRC bytes (280 + padding) More...
static constexpr size_t	mavconn::MAVConnInterface::MAX_TXQ_SIZE = 1000
	Maximum count of transmission buffers. More...
static std::unordered_map< mavlink::msgid_t, const mavlink::mavlink_msg_entry_t * >	mavconn::MAVConnInterface::message_entries {}
	This map merge all dialect mavlink_msg_entry_t structs. Needed for packet parser. More...
ReceivedCb	mavconn::MAVConnInterface::message_received_cb
	Message receive callback. More...
std::recursive_mutex	mavconn::MAVConnSerial::mutex
std::recursive_mutex	mavconn::MAVConnTCPClient::mutex
std::recursive_mutex	mavconn::MAVConnUDP::mutex
std::recursive_mutex	mavconn::MAVConnTCPServer::mutex
bool	mavconn::MAVConnUDP::permanent_broadcast
static constexpr auto	mavconn::MAVConnUDP::PERMANENT_BROADCAST_REMOTE_HOST = "***permanent broadcast***"
ClosedCb	mavconn::MAVConnInterface::port_closed_cb
	Port closed notification callback. More...
ssize_t	mavconn::MsgBuffer::pos
boost::asio::ip::udp::endpoint	mavconn::MAVConnUDP::recv_ep
boost::asio::ip::udp::endpoint	mavconn::MAVConnUDP::remote_ep
std::atomic< bool >	mavconn::MAVConnUDP::remote_exists
std::array< uint8_t, MsgBuffer::MAX_SIZE >	mavconn::MAVConnSerial::rx_buf
std::array< uint8_t, MsgBuffer::MAX_SIZE >	mavconn::MAVConnTCPClient::rx_buf
std::array< uint8_t, MsgBuffer::MAX_SIZE >	mavconn::MAVConnUDP::rx_buf
float	mavconn::MAVConnInterface::IOStat::rx_speed
	current receive speed [B/s] More...
size_t	mavconn::MAVConnInterface::IOStat::rx_total_bytes
	total bytes received More...
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::tcp::socket	mavconn::MAVConnTCPClient::socket
boost::asio::ip::udp::socket	mavconn::MAVConnUDP::socket
uint8_t	mavconn::MAVConnInterface::sys_id
	Connection System Id. More...
std::atomic< bool >	mavconn::MAVConnSerial::tx_in_progress
std::atomic< bool >	mavconn::MAVConnTCPClient::tx_in_progress
std::atomic< bool >	mavconn::MAVConnUDP::tx_in_progress
std::deque< MsgBuffer >	mavconn::MAVConnSerial::tx_q
std::deque< MsgBuffer >	mavconn::MAVConnTCPClient::tx_q
std::deque< MsgBuffer >	mavconn::MAVConnUDP::tx_q
float	mavconn::MAVConnInterface::IOStat::tx_speed
	current transfer speed [B/s] More...
size_t	mavconn::MAVConnInterface::IOStat::tx_total_bytes
	total bytes transferred More...
std::atomic< size_t >	mavconn::MAVConnInterface::tx_total_bytes

Friends
class	mavconn::MAVConnTCPClient::MAVConnTCPServer
const mavlink::mavlink_msg_entry_t *	mavconn::MAVConnInterface::mavlink::mavlink_get_msg_entry (uint32_t msgid)

Detailed Description

MAVConn connection handling library.

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

Macro Definition Documentation

#define CONSOLE_BRIDGE_logDebug	(		fmt,
			...
	)		console_bridge::log(__FILE__, __LINE__, console_bridge::CONSOLE_BRIDGE_LOG_DEBUG, fmt, ##__VA_ARGS__)

Definition at line 39 of file console_bridge_compat.h.

#define CONSOLE_BRIDGE_logError	(		fmt,
			...
	)		console_bridge::log(__FILE__, __LINE__, console_bridge::CONSOLE_BRIDGE_LOG_ERROR, fmt, ##__VA_ARGS__)

Definition at line 54 of file console_bridge_compat.h.

#define CONSOLE_BRIDGE_logInform	(		fmt,
			...
	)		console_bridge::log(__FILE__, __LINE__, console_bridge::CONSOLE_BRIDGE_LOG_INFO, fmt, ##__VA_ARGS__)

Definition at line 44 of file console_bridge_compat.h.

#define CONSOLE_BRIDGE_logWarn	(		fmt,
			...
	)		console_bridge::log(__FILE__, __LINE__, console_bridge::CONSOLE_BRIDGE_LOG_WARN, fmt, ##__VA_ARGS__)

Definition at line 49 of file console_bridge_compat.h.

#define GET_IO_SERVICE

(

s

)

((s).get_io_service())

Definition at line 28 of file tcp.cpp.

#define PFX   "mavconn: "

Definition at line 29 of file interface.cpp.

#define PFX   "mavconn: udp"

Definition at line 34 of file udp.cpp.

#define PFX   "mavconn: serial"

Definition at line 36 of file serial.cpp.

#define PFX   "mavconn: tcp"

Definition at line 41 of file tcp.cpp.

#define PFXd   PFX "%zu: "

Definition at line 35 of file udp.cpp.

#define PFXd   PFX "%zu: "

Definition at line 37 of file serial.cpp.

#define PFXd   PFX "%zu: "

Definition at line 42 of file tcp.cpp.

Typedef Documentation

using mavconn::MAVConnInterface::ClosedCb = std::function<void (void)>

Definition at line 103 of file interface.h.

using mavconn::MAVConnInterface::ConstPtr = std::shared_ptr<MAVConnInterface const>

Definition at line 105 of file interface.h.

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

Definition at line 42 of file interface.h.

using mavconn::MAVConnInterface::Ptr = std::shared_ptr<MAVConnInterface>

Definition at line 104 of file interface.h.

using mavconn::MAVConnInterface::ReceivedCb = std::function<void (const mavlink::mavlink_message_t *message, const Framing framing)>

Definition at line 102 of file interface.h.

using mavconn::steady_clock = typedef std::chrono::steady_clock

Definition at line 41 of file interface.h.

using mavconn::MAVConnInterface::WeakPtr = std::weak_ptr<MAVConnInterface>

Definition at line 106 of file interface.h.

Enumeration Type Documentation

enum mavconn::Framing : uint8_t

strong

Rx packer framing status. (same as mavlink::mavlink_framing_t)

Enumerator
incomplete
ok
bad_crc
bad_signature

Definition at line 48 of file interface.h.

enum mavconn::Protocol : uint8_t

strong

MAVLink protocol version.

Enumerator
V10	MAVLink v1.0.
V20	MAVLink v2.0.

Definition at line 56 of file interface.h.

Function Documentation

void mavconn::MAVConnTCPServer::client_closed ( std::weak_ptr< MAVConnTCPClient >  weak_instp )

private

Definition at line 444 of file tcp.cpp.

void mavconn::MAVConnTCPClient::client_connected ( size_t  server_channel )

private

This special function called by TCP server when connection accepted.

Definition at line 124 of file tcp.cpp.

void mavconn::MAVConnSerial::close ( )

overridevirtual

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 127 of file serial.cpp.

void mavconn::MAVConnUDP::close ( )

overridevirtual

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 140 of file udp.cpp.

void mavconn::MAVConnTCPClient::close ( )

overridevirtual

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 139 of file tcp.cpp.

void mavconn::MAVConnTCPServer::close ( )

overridevirtual

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 325 of file tcp.cpp.

virtual void mavconn::MAVConnInterface::close ( )

pure virtual

Close connection.

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

template<typename T >

mavconn::DeviceError::DeviceError ( const char *  module, T  msg  )

inline

Construct error.

Definition at line 70 of file interface.h.

void mavconn::MAVConnTCPServer::do_accept ( )

private

Definition at line 415 of file tcp.cpp.

void mavconn::MAVConnSerial::do_read ( void  )

private

Definition at line 207 of file serial.cpp.

void mavconn::MAVConnTCPClient::do_recv ( )

private

Definition at line 221 of file tcp.cpp.

void mavconn::MAVConnUDP::do_recvfrom ( )

private

Definition at line 236 of file udp.cpp.

void mavconn::MAVConnTCPClient::do_send ( bool  check_tx_state )

private

Definition at line 241 of file tcp.cpp.

void mavconn::MAVConnUDP::do_sendto ( bool  check_tx_state )

private

Definition at line 260 of file udp.cpp.

void mavconn::MAVConnSerial::do_write ( bool  check_tx_state )

private

Definition at line 224 of file serial.cpp.

uint8_t* mavconn::MsgBuffer::dpos ( )

inline

Definition at line 86 of file msgbuffer.h.

mavlink::mavlink_message_t* mavconn::MAVConnInterface::get_buffer_p ( )

inlineprotected

Definition at line 261 of file interface.h.

uint8_t mavconn::MAVConnInterface::get_component_id ( )

inline

Definition at line 207 of file interface.h.

MAVConnInterface::IOStat mavconn::MAVConnTCPServer::get_iostat ( )

overridevirtual

Reimplemented from mavconn::MAVConnInterface.

Definition at line 368 of file tcp.cpp.

MAVConnInterface::IOStat mavconn::MAVConnInterface::get_iostat ( )

virtual

Reimplemented in mavconn::MAVConnTCPServer.

Definition at line 61 of file interface.cpp.

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

static

Protocol mavconn::MAVConnInterface::get_protocol_version

(

)

Definition at line 181 of file interface.cpp.

std::string mavconn::MAVConnUDP::get_remote_endpoint

(

)

const

Definition at line 308 of file udp.cpp.

mavlink_status_t mavconn::MAVConnTCPServer::get_status ( )

overridevirtual

Reimplemented from mavconn::MAVConnInterface.

Definition at line 344 of file tcp.cpp.

mavlink_status_t mavconn::MAVConnInterface::get_status ( )

virtual

Reimplemented in mavconn::MAVConnTCPServer.

Definition at line 56 of file interface.cpp.

mavlink::mavlink_status_t* mavconn::MAVConnInterface::get_status_p ( )

inlineprotected

Definition at line 257 of file interface.h.

uint8_t mavconn::MAVConnInterface::get_system_id ( )

inline

Definition at line 201 of file interface.h.

static void mavconn::MAVConnInterface::init_msg_entry ( )

staticprivate

Initialize message_entries map

autogenerated. placed in mavlink_helpers.cpp

void mavconn::MAVConnInterface::iostat_rx_add ( size_t  bytes )

protected

Definition at line 91 of file interface.cpp.

void mavconn::MAVConnInterface::iostat_tx_add ( size_t  bytes )

protected

Definition at line 86 of file interface.cpp.

bool mavconn::MAVConnSerial::is_open ( )

inlineoverridevirtual

Implements mavconn::MAVConnInterface.

Definition at line 51 of file serial.h.

bool mavconn::MAVConnUDP::is_open ( )

inlineoverridevirtual

Implements mavconn::MAVConnInterface.

Definition at line 59 of file udp.h.

bool mavconn::MAVConnTCPClient::is_open ( )

inlineoverridevirtual

Implements mavconn::MAVConnInterface.

Definition at line 60 of file tcp.h.

bool mavconn::MAVConnTCPServer::is_open ( )

inlineoverridevirtual

Implements mavconn::MAVConnInterface.

Definition at line 116 of file tcp.h.

virtual bool mavconn::MAVConnInterface::is_open ( )

pure virtual

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

void mavconn::MAVConnInterface::log_recv ( const char *  pfx, mavlink::mavlink_message_t &  msg, Framing  framing  )

protected

Definition at line 117 of file interface.cpp.

void mavconn::MAVConnInterface::log_send ( const char *  pfx, const mavlink::mavlink_message_t *  msg  )

protected

Definition at line 132 of file interface.cpp.

void mavconn::MAVConnInterface::log_send_obj ( const char *  pfx, const mavlink::Message &  msg  )

protected

Definition at line 142 of file interface.cpp.

template<typename T >

static std::string mavconn::DeviceError::make_message ( const char *  module, T  msg  )

inlinestatic

Definition at line 75 of file interface.h.

mavconn::MAVConnInterface::MAVConnInterface ( const MAVConnInterface &  )

privatedelete

mavconn::MAVConnInterface::MAVConnInterface	(	uint8_t	system_id = 1,
		uint8_t	component_id = MAV_COMP_ID_UDP_BRIDGE
	)

Parameters

[in]	system_id	sysid for send_message
[in]	component_id	compid for send_message

Definition at line 40 of file interface.cpp.

mavconn::MAVConnSerial::MAVConnSerial	(	uint8_t	system_id = 1,
		uint8_t	component_id = MAV_COMP_ID_UDP_BRIDGE,
		std::string	device = DEFAULT_DEVICE,
		unsigned	baudrate = DEFAULT_BAUDRATE,
		bool	hwflow = false
	)

Open and run serial link.

Parameters

[in]	device	TTY device path
[in]	baudrate	serial baudrate

Definition at line 40 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 = DEFAULT_SERVER_HOST,
		unsigned short	server_port = DEFAULT_SERVER_PORT
	)

Create generic TCP client (connect to the server)

Parameters

Definition at line 77 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 113 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 = DEFAULT_BIND_HOST,
		unsigned short	bind_port = DEFAULT_BIND_PORT
	)

Parameters

Definition at line 287 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 = DEFAULT_BIND_HOST,
		unsigned short	bind_port = DEFAULT_BIND_PORT,
		std::string	remote_host = DEFAULT_REMOTE_HOST,
		unsigned short	remote_port = DEFAULT_REMOTE_PORT
	)

Parameters

Definition at line 68 of file udp.cpp.

static std::string mavconn::DeviceError::msg_to_string ( const char *  description )

inlinestatic

Definition at line 81 of file interface.h.

static std::string mavconn::DeviceError::msg_to_string ( int  errnum )

inlinestatic

Definition at line 85 of file interface.h.

static std::string mavconn::DeviceError::msg_to_string ( boost::system::system_error &  err )

inlinestatic

Definition at line 89 of file interface.h.

mavconn::MsgBuffer::MsgBuffer ( )

inline

Definition at line 34 of file msgbuffer.h.

mavconn::MsgBuffer::MsgBuffer ( const mavlink::mavlink_message_t *  msg )

inlineexplicit

Buffer constructor from mavlink_message_t.

Definition at line 42 of file msgbuffer.h.

mavconn::MsgBuffer::MsgBuffer ( const mavlink::Message &  obj, mavlink::mavlink_status_t *  status, uint8_t  sysid, uint8_t  compid  )

inline

Buffer constructor for mavlink::Message derived object.

Definition at line 53 of file msgbuffer.h.

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

inline

Buffer constructor for send_bytes()

Parameters

[in]

nbytes

should be less than MAX_SIZE

Definition at line 73 of file msgbuffer.h.

ssize_t mavconn::MsgBuffer::nbytes ( )

inline

Definition at line 90 of file msgbuffer.h.

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]	url	resource locator
[in]	system_id	optional system id
[in]	component_id	optional component id

Returns

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

Definition at line 334 of file interface.cpp.

void mavconn::MAVConnInterface::parse_buffer ( const char *  pfx, uint8_t *  buf, const size_t  bufsize, size_t  bytes_received  )

protected

Parse buffer and emit massage_received.

Definition at line 96 of file interface.cpp.

void mavconn::MAVConnTCPServer::recv_message ( const mavlink::mavlink_message_t *  message, const Framing  framing  )

private

Definition at line 458 of file tcp.cpp.

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

static

Definition at line 45 of file tcp.cpp.

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

static

Definition at line 38 of file udp.cpp.

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

overridevirtual

Send raw bytes (for some quirks)

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Implements mavconn::MAVConnInterface.

Definition at line 147 of file serial.cpp.

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

overridevirtual

Send raw bytes (for some quirks)

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Implements mavconn::MAVConnInterface.

Definition at line 161 of file udp.cpp.

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

overridevirtual

Send raw bytes (for some quirks)

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Implements mavconn::MAVConnInterface.

Definition at line 161 of file tcp.cpp.

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

overridevirtual

Send raw bytes (for some quirks)

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Implements mavconn::MAVConnInterface.

Definition at line 391 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)

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

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

void mavconn::MAVConnSerial::send_message ( const mavlink::mavlink_message_t *  message )

overridevirtual

Send message (mavlink_message_t)

Can be used to forward messages from other connection channel.

Note

Does not do finalization!

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]

*message

not changed

Implements mavconn::MAVConnInterface.

void mavconn::MAVConnSerial::send_message ( const mavlink::Message &  message, const uint8_t  src_compid  )

overridevirtual

Send message (child of mavlink::Message)

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

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]	&message	not changed
[in]	src_compid	sets the component ID of the message source

Implements mavconn::MAVConnInterface.

Definition at line 187 of file serial.cpp.

void mavconn::MAVConnUDP::send_message ( const mavlink::mavlink_message_t *  message )

overridevirtual

Send message (mavlink_message_t)

Can be used to forward messages from other connection channel.

Note

Does not do finalization!

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]

*message

not changed

Implements mavconn::MAVConnInterface.

void mavconn::MAVConnTCPClient::send_message ( const mavlink::mavlink_message_t *  message )

overridevirtual

Send message (mavlink_message_t)

Can be used to forward messages from other connection channel.

Note

Does not do finalization!

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]

*message

not changed

Implements mavconn::MAVConnInterface.

void mavconn::MAVConnUDP::send_message ( const mavlink::Message &  message, const uint8_t  src_compid  )

overridevirtual

Send message (child of mavlink::Message)

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

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]	&message	not changed
[in]	src_compid	sets the component ID of the message source

Implements mavconn::MAVConnInterface.

Definition at line 211 of file udp.cpp.

void mavconn::MAVConnTCPClient::send_message ( const mavlink::Message &  message, const uint8_t  src_compid  )

overridevirtual

Send message (child of mavlink::Message)

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

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]	&message	not changed
[in]	src_compid	sets the component ID of the message source

Implements mavconn::MAVConnInterface.

Definition at line 201 of file tcp.cpp.

void mavconn::MAVConnTCPServer::send_message ( const mavlink::mavlink_message_t *  message )

overridevirtual

Send message (mavlink_message_t)

Can be used to forward messages from other connection channel.

Note

Does not do finalization!

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]

*message

not changed

Implements mavconn::MAVConnInterface.

void mavconn::MAVConnTCPServer::send_message ( const mavlink::Message &  message, const uint8_t  src_compid  )

overridevirtual

Send message (child of mavlink::Message)

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

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]	&message	not changed
[in]	src_compid	sets the component ID of the message source

Implements mavconn::MAVConnInterface.

Definition at line 407 of file tcp.cpp.

virtual void mavconn::MAVConnInterface::send_message ( const mavlink::mavlink_message_t *  message )

pure virtual

Send message (mavlink_message_t)

Can be used to forward messages from other connection channel.

Note

Does not do finalization!

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]

*message

not changed

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

virtual void mavconn::MAVConnInterface::send_message ( const mavlink::Message &  message )

inlinevirtual

Send message (child of mavlink::Message)

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

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]

&message

not changed

Definition at line 147 of file interface.h.

virtual void mavconn::MAVConnInterface::send_message ( const mavlink::Message &  message, const uint8_t  src_compid  )

pure virtual

Send message (child of mavlink::Message)

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

Exceptions

std::length_error

On exceeding Tx queue limit (MAX_TXQ_SIZE)

Parameters

[in]	&message	not changed
[in]	src_compid	sets the component ID of the message source

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

void mavconn::MAVConnInterface::send_message_ignore_drop

(

const mavlink::mavlink_message_t *

message

)

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

Definition at line 147 of file interface.cpp.

void mavconn::MAVConnInterface::send_message_ignore_drop ( const mavlink::Message &  message )

inline

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

System and Component ID = from this object.

Definition at line 180 of file interface.h.

void mavconn::MAVConnInterface::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.

Definition at line 160 of file interface.cpp.

void mavconn::MAVConnInterface::set_component_id ( uint8_t  compid )

inline

Definition at line 210 of file interface.h.

void mavconn::MAVConnInterface::set_protocol_version

(

Protocol

pver

)

Set protocol used for encoding mavlink::Mavlink messages.

Definition at line 173 of file interface.cpp.

void mavconn::MAVConnInterface::set_system_id ( uint8_t  sysid )

inline

Definition at line 204 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 192 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 228 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, bool  hwflow  )

static

Definition at line 259 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 304 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 319 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, bool  is_udpb, bool  permanent_broadcast  )

static

Definition at line 274 of file interface.cpp.

mavconn::MAVConnSerial::~MAVConnSerial ( )

virtual

Definition at line 122 of file serial.cpp.

mavconn::MAVConnTCPClient::~MAVConnTCPClient ( )

virtual

Definition at line 133 of file tcp.cpp.

mavconn::MAVConnTCPServer::~MAVConnTCPServer ( )

virtual

Definition at line 319 of file tcp.cpp.

mavconn::MAVConnUDP::~MAVConnUDP ( )

virtual

Definition at line 135 of file udp.cpp.

virtual mavconn::MsgBuffer::~MsgBuffer ( )

inlinevirtual

Definition at line 81 of file msgbuffer.h.

Variable Documentation

boost::asio::ip::tcp::acceptor mavconn::MAVConnTCPServer::acceptor

private

Definition at line 125 of file tcp.h.

boost::asio::ip::udp::endpoint mavconn::MAVConnUDP::bind_ep

private

Definition at line 76 of file udp.h.

boost::asio::ip::tcp::endpoint mavconn::MAVConnTCPServer::bind_ep

private

Definition at line 126 of file tcp.h.

constexpr auto mavconn::MAVConnUDP::BROADCAST_REMOTE_HOST = "***i want broadcast***"

static

Markers for broadcast modes. Not valid domain names.

Definition at line 39 of file udp.h.

std::list<std::shared_ptr<MAVConnTCPClient> > mavconn::MAVConnTCPServer::client_list

private

Definition at line 130 of file tcp.h.

uint8_t mavconn::MAVConnInterface::comp_id

protected

Connection Component Id.

Definition at line 244 of file interface.h.

size_t mavconn::MAVConnInterface::conn_id

protected

Channel number used for logging.

Definition at line 255 of file interface.h.

std::atomic< size_t > mavconn::MAVConnInterface::conn_id_counter {0}

staticprivate

monotonic counter (increment only)

Definition at line 290 of file interface.h.

uint8_t mavconn::MsgBuffer::data[MAX_SIZE]

Definition at line 30 of file msgbuffer.h.

constexpr auto mavconn::MAVConnSerial::DEFAULT_BAUDRATE = 57600

static

Definition at line 33 of file serial.h.

constexpr auto mavconn::MAVConnUDP::DEFAULT_BIND_HOST = "localhost"

static

Definition at line 34 of file udp.h.

constexpr auto mavconn::MAVConnTCPServer::DEFAULT_BIND_HOST = "localhost"

static

Definition at line 97 of file tcp.h.

constexpr auto mavconn::MAVConnUDP::DEFAULT_BIND_PORT = 14555

static

Definition at line 35 of file udp.h.

constexpr auto mavconn::MAVConnTCPServer::DEFAULT_BIND_PORT = 5760

static

Definition at line 98 of file tcp.h.

constexpr auto mavconn::MAVConnSerial::DEFAULT_DEVICE = "/dev/ttyACM0"

static

Definition at line 32 of file serial.h.

constexpr auto mavconn::MAVConnUDP::DEFAULT_REMOTE_HOST = ""

static

Definition at line 36 of file udp.h.

constexpr auto mavconn::MAVConnUDP::DEFAULT_REMOTE_PORT = 14550

static

Definition at line 37 of file udp.h.

constexpr auto mavconn::MAVConnTCPClient::DEFAULT_SERVER_HOST = "localhost"

static

Definition at line 37 of file tcp.h.

constexpr auto mavconn::MAVConnTCPClient::DEFAULT_SERVER_PORT = 5760

static

Definition at line 38 of file tcp.h.

std::once_flag mavconn::MAVConnInterface::init_flag

staticprivate

init_msg_entry() once flag

Definition at line 293 of file interface.h.

boost::asio::io_service mavconn::MAVConnSerial::io_service

private

Definition at line 56 of file serial.h.

boost::asio::io_service mavconn::MAVConnUDP::io_service

private

Definition at line 66 of file udp.h.

boost::asio::io_service mavconn::MAVConnTCPClient::io_service

private

Definition at line 66 of file tcp.h.

boost::asio::io_service mavconn::MAVConnTCPServer::io_service

private

Definition at line 121 of file tcp.h.

std::thread mavconn::MAVConnSerial::io_thread

private

Definition at line 57 of file serial.h.

std::thread mavconn::MAVConnUDP::io_thread

private

Definition at line 68 of file udp.h.

std::thread mavconn::MAVConnTCPClient::io_thread

private

Definition at line 68 of file tcp.h.

std::thread mavconn::MAVConnTCPServer::io_thread

private

Definition at line 123 of file tcp.h.

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

private

Definition at line 67 of file udp.h.

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

private

Definition at line 67 of file tcp.h.

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

private

Definition at line 122 of file tcp.h.

std::recursive_mutex mavconn::MAVConnInterface::iostat_mutex

private

Definition at line 285 of file interface.h.

std::atomic<bool> mavconn::MAVConnTCPClient::is_destroying

private

Definition at line 73 of file tcp.h.

std::atomic<bool> mavconn::MAVConnTCPServer::is_destroying

private

Definition at line 128 of file tcp.h.

std::chrono::time_point<steady_clock> mavconn::MAVConnInterface::last_iostat

private

Definition at line 287 of file interface.h.

boost::asio::ip::udp::endpoint mavconn::MAVConnUDP::last_remote_ep

private

Definition at line 75 of file udp.h.

size_t mavconn::MAVConnInterface::last_rx_total_bytes

private

Definition at line 286 of file interface.h.

size_t mavconn::MAVConnInterface::last_tx_total_bytes

private

Definition at line 286 of file interface.h.

ssize_t mavconn::MsgBuffer::len

Definition at line 31 of file msgbuffer.h.

mavlink::mavlink_message_t mavconn::MAVConnInterface::m_buffer

private

Definition at line 281 of file interface.h.

mavlink::mavlink_status_t mavconn::MAVConnInterface::m_mavlink_status

private

Definition at line 282 of file interface.h.

mavlink::mavlink_status_t mavconn::MAVConnInterface::m_parse_status

private

Definition at line 280 of file interface.h.

constexpr auto mavconn::MAV_COMP_ID_UDP_BRIDGE = 240

static

Same as mavlink::common::MAV_COMPONENT::COMP_ID_UDP_BRIDGE.

Definition at line 45 of file interface.h.

constexpr size_t mavconn::MAVConnInterface::MAX_PACKET_SIZE = MAVLINK_MAX_PACKET_LEN + 16

staticprotected

Maximum mavlink packet size + some extra bytes for padding.

Definition at line 247 of file interface.h.

constexpr ssize_t mavconn::MsgBuffer::MAX_SIZE = MAVLINK_MAX_PACKET_LEN + 16

static

Maximum buffer size with padding for CRC bytes (280 + padding)

Definition at line 29 of file msgbuffer.h.

constexpr size_t mavconn::MAVConnInterface::MAX_TXQ_SIZE = 1000

staticprotected

Maximum count of transmission buffers.

Definition at line 249 of file interface.h.

std::unordered_map< mavlink::msgid_t, const mavlink::mavlink_msg_entry_t * > mavconn::MAVConnInterface::message_entries {}

staticprotected

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

Definition at line 252 of file interface.h.

ReceivedCb mavconn::MAVConnInterface::message_received_cb

Message receive callback.

Definition at line 193 of file interface.h.

std::recursive_mutex mavconn::MAVConnSerial::mutex

private

Definition at line 63 of file serial.h.

std::recursive_mutex mavconn::MAVConnTCPClient::mutex

private

Definition at line 78 of file tcp.h.

std::recursive_mutex mavconn::MAVConnUDP::mutex

private

Definition at line 81 of file udp.h.

std::recursive_mutex mavconn::MAVConnTCPServer::mutex

private

Definition at line 131 of file tcp.h.

bool mavconn::MAVConnUDP::permanent_broadcast

private

Definition at line 69 of file udp.h.

constexpr auto mavconn::MAVConnUDP::PERMANENT_BROADCAST_REMOTE_HOST = "***permanent broadcast***"

static

Definition at line 40 of file udp.h.

ClosedCb mavconn::MAVConnInterface::port_closed_cb

Port closed notification callback.

Definition at line 195 of file interface.h.

ssize_t mavconn::MsgBuffer::pos

Definition at line 32 of file msgbuffer.h.

boost::asio::ip::udp::endpoint mavconn::MAVConnUDP::recv_ep

private

Definition at line 74 of file udp.h.

boost::asio::ip::udp::endpoint mavconn::MAVConnUDP::remote_ep

private

Definition at line 73 of file udp.h.

std::atomic<bool> mavconn::MAVConnUDP::remote_exists

private

Definition at line 71 of file udp.h.

std::array<uint8_t, MsgBuffer::MAX_SIZE> mavconn::MAVConnSerial::rx_buf

private

Definition at line 62 of file serial.h.

std::array<uint8_t, MsgBuffer::MAX_SIZE> mavconn::MAVConnTCPClient::rx_buf

private

Definition at line 77 of file tcp.h.

std::array<uint8_t, MsgBuffer::MAX_SIZE> mavconn::MAVConnUDP::rx_buf

private

Definition at line 80 of file udp.h.

float mavconn::MAVConnInterface::IOStat::rx_speed

current receive speed [B/s]

Definition at line 112 of file interface.h.

size_t mavconn::MAVConnInterface::IOStat::rx_total_bytes

total bytes received

Definition at line 110 of file interface.h.

std::atomic<size_t> mavconn::MAVConnInterface::rx_total_bytes

private

Definition at line 284 of file interface.h.

boost::asio::serial_port mavconn::MAVConnSerial::serial_dev

private

Definition at line 58 of file serial.h.

boost::asio::ip::tcp::endpoint mavconn::MAVConnTCPClient::server_ep

private

Definition at line 71 of file tcp.h.

boost::asio::ip::tcp::socket mavconn::MAVConnTCPClient::socket

private

Definition at line 70 of file tcp.h.

boost::asio::ip::udp::socket mavconn::MAVConnUDP::socket

private

Definition at line 72 of file udp.h.

uint8_t mavconn::MAVConnInterface::sys_id

protected

Connection System Id.

Definition at line 243 of file interface.h.

std::atomic<bool> mavconn::MAVConnSerial::tx_in_progress

private

Definition at line 60 of file serial.h.

std::atomic<bool> mavconn::MAVConnTCPClient::tx_in_progress

private

Definition at line 75 of file tcp.h.

std::atomic<bool> mavconn::MAVConnUDP::tx_in_progress

private

Definition at line 78 of file udp.h.

std::deque<MsgBuffer> mavconn::MAVConnSerial::tx_q

private

Definition at line 61 of file serial.h.

std::deque<MsgBuffer> mavconn::MAVConnTCPClient::tx_q

private

Definition at line 76 of file tcp.h.

std::deque<MsgBuffer> mavconn::MAVConnUDP::tx_q

private

Definition at line 79 of file udp.h.

float mavconn::MAVConnInterface::IOStat::tx_speed

current transfer speed [B/s]

Definition at line 111 of file interface.h.

size_t mavconn::MAVConnInterface::IOStat::tx_total_bytes

total bytes transferred

Definition at line 109 of file interface.h.

std::atomic<size_t> mavconn::MAVConnInterface::tx_total_bytes

private

Definition at line 284 of file interface.h.

Friends

friend class MAVConnTCPServer

friend

Definition at line 65 of file tcp.h.

const mavlink::mavlink_msg_entry_t* mavlink::mavlink_get_msg_entry ( uint32_t  msgid )

friend