write_buffer.h

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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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#ifndef MAVROSFLIGHT_WRITE_BUFFER_H
#define MAVROSFLIGHT_WRITE_BUFFER_H

#include <rosflight/mavrosflight/mavlink_bridge.h>

#include <cstdint>

namespace mavrosflight
{
struct WriteBuffer
{
  uint8_t data[MAVLINK_MAX_PACKET_LEN];
  size_t len;
  size_t pos;

  WriteBuffer() : len(0), pos(0) {}

  WriteBuffer(const uint8_t* buf, uint16_t len) : len(len), pos(0)
  {
    assert(len <= MAVLINK_MAX_PACKET_LEN); 
    memcpy(data, buf, len);
  }

  uint8_t* dpos() { return data + pos; }

  size_t nbytes() { return len - pos; }
};

} // namespace mavrosflight

#endif // MAVROSFLIGHT_WRITE_BUFFER_H