mavrosflight.cpp

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/*
 * Copyright (c) 2017 Daniel Koch and James Jackson, BYU MAGICC Lab.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#include <rosflight/mavrosflight/interface_adapter.h>
#include <rosflight/mavrosflight/logger_interface.h>
#include <rosflight/mavrosflight/mavrosflight.h>

namespace mavrosflight
{
using boost::asio::serial_port_base;

template <typename DerivedLogger>
MavROSflight<DerivedLogger>::MavROSflight(MavlinkComm &mavlink_comm,
                                          LoggerInterface<DerivedLogger> &logger,
                                          const TimeInterface &time_interface,
                                          TimerProviderInterface &timer_provider,
                                          uint8_t sysid /* = 1 */,
                                          uint8_t compid /* = 50 */) :
  comm(mavlink_comm),
  param(&comm, logger, timer_provider),
  time(&comm, logger, time_interface, timer_provider),
  sysid_(sysid),
  compid_(compid)
{
  // comm.open();
}

template <typename DerivedLogger>
MavROSflight<DerivedLogger>::~MavROSflight()
{
  comm.close();
}

template class MavROSflight<DerivedLoggerType>;

} // namespace mavrosflight