message.hpp

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#pragma once

#include <array>
#include <cassert>
#include <cstring>
#include <sstream>
#include <string>
#include <iostream>

#ifndef MAVLINK_HELPER
#define MAVLINK_HELPER static inline
#endif

#define MAVLINK_USE_CXX_NAMESPACE       // put C-lib into namespace
#include "mavlink_types.h"

#define  _MAVLINK_CONVERSIONS_H_        // do not include mavlink_conversions.h
#define MAVLINK_GET_MSG_ENTRY           // user should provide mavlink_get_msg_entry()
namespace mavlink {
const mavlink_msg_entry_t *mavlink_get_msg_entry(uint32_t msgid);
} // namespace mavlink

#include "mavlink_helpers.h"

#include "msgmap.hpp"

namespace mavlink {

using msgid_t = uint32_t;

struct Message {
        static constexpr msgid_t MSG_ID = UINT32_MAX;
        static constexpr size_t LENGTH = 0;
        static constexpr size_t MIN_LENGTH = 0;
        static constexpr uint8_t CRC_EXTRA = 0;
        static constexpr auto NAME = "BASE";

        struct Info {
                msgid_t id;
                size_t length;
                size_t min_length;
                uint8_t crc_extra;
        };

        virtual std::string get_name(void) const = 0;

        virtual Info get_message_info(void) const = 0;

        virtual std::string to_yaml(void) const = 0;

        virtual void serialize(MsgMap &map) const = 0;

        virtual void deserialize(MsgMap &msp) = 0;
};

template<size_t _N>
std::string to_string(const std::array<char, _N> &a)
{
        return std::string(a.data(), strnlen(a.data(), a.size()));
}

template<typename _T, size_t _N>
std::string to_string(const std::array<_T, _N> &a)
{
        std::stringstream ss;
        bool first = true;

        for (auto const &v : a) {
                if (first) {
                        first = false;
                } else {
                        ss << ", ";
                }

                // +v treated as 0+v, it's safe for all types,
                // but force int8_t/uint8_t to be print as number.
                ss << +v;
        }

        return ss.str();
}

template<size_t _N>
void set_string(std::array<char, _N> &a, const std::string &s)
{
        strncpy(a.data(), s.c_str(), a.size());
}

template<size_t _N>
void set_string_z(std::array<char, _N> &a, const std::string &s)
{
        strncpy(a.data(), s.c_str(), a.size() - 1);
        a[a.size() - 1] = '\0';
}

} // namespace mavlink