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...

void	mavconn::MAVConnSerial::connect (const ReceivedCb &cb_handle_message, const ClosedCb &cb_handle_closed_port=ClosedCb()) override
	Establish connection, automatically called by open_url() More...

void	mavconn::MAVConnUDP::connect (const ReceivedCb &cb_handle_message, const ClosedCb &cb_handle_closed_port=ClosedCb()) override
	Establish connection, automatically called by open_url() More...

void	mavconn::MAVConnTCPClient::connect (const ReceivedCb &cb_handle_message, const ClosedCb &cb_handle_closed_port=ClosedCb()) override
	Establish connection, automatically called by open_url() More...

void	mavconn::MAVConnTCPServer::connect (const ReceivedCb &cb_handle_message, const ClosedCb &cb_handle_closed_port=ClosedCb()) override
	Establish connection, automatically called by open_url() More...

virtual void	mavconn::MAVConnInterface::connect (const ReceivedCb &cb_handle_message, const ClosedCb &cb_handle_closed_port=ClosedCb())=0
	Establish connection, automatically called by open_url() 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, const ReceivedCb &cb_handle_message=ReceivedCb(), const ClosedCb &cb_handle_closed_port=ClosedCb())
	Construct connection from URL. More...

static Ptr	mavconn::MAVConnInterface::open_url_no_connect (std::string url, uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE)
	version of open_url() which do not perform connect() More...

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

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::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::mavlink_message_t *message) override
	Send message (mavlink_message_t) 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

◆ CONSOLE_BRIDGE_logDebug

#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.

◆ CONSOLE_BRIDGE_logError

#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.

◆ CONSOLE_BRIDGE_logInform

#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.

◆ CONSOLE_BRIDGE_logWarn

#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.

◆ GET_IO_SERVICE

#define GET_IO_SERVICE ( s ) ((s).get_io_service())

Definition at line 28 of file tcp.cpp.

◆ PFX [1/4]

#define PFX "mavconn: "

Definition at line 29 of file interface.cpp.

◆ PFX [2/4]

#define PFX "mavconn: udp"

Definition at line 34 of file udp.cpp.

◆ PFX [3/4]

#define PFX "mavconn: serial"

Definition at line 36 of file serial.cpp.

◆ PFX [4/4]

#define PFX "mavconn: tcp"

Definition at line 41 of file tcp.cpp.

◆ PFXd [1/3]

#define PFXd PFX "%zu: "

Definition at line 35 of file udp.cpp.

◆ PFXd [2/3]

#define PFXd PFX "%zu: "

Definition at line 37 of file serial.cpp.

◆ PFXd [3/3]

#define PFXd PFX "%zu: "

Definition at line 42 of file tcp.cpp.

Typedef Documentation

◆ ClosedCb

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

Definition at line 103 of file interface.h.

◆ ConstPtr

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

Definition at line 105 of file interface.h.

◆ lock_guard

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

Definition at line 42 of file interface.h.

◆ Ptr

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

Definition at line 104 of file interface.h.

◆ ReceivedCb

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

Definition at line 102 of file interface.h.

◆ steady_clock

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

Definition at line 41 of file interface.h.

◆ WeakPtr

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

Definition at line 106 of file interface.h.

Enumeration Type Documentation

◆ Framing

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.

◆ Protocol

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

◆ client_closed()

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

private

Definition at line 464 of file tcp.cpp.

◆ client_connected()

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

private

This special function called by TCP server when connection accepted.

Definition at line 114 of file tcp.cpp.

◆ close() [1/5]

void mavconn::MAVConnSerial::close ( )

overridevirtual

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 133 of file serial.cpp.

◆ close() [2/5]

void mavconn::MAVConnUDP::close ( )

overridevirtual

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 146 of file udp.cpp.

◆ close() [3/5]

void mavconn::MAVConnTCPClient::close ( )

overridevirtual

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 146 of file tcp.cpp.

◆ close() [4/5]

void mavconn::MAVConnTCPServer::close ( )

overridevirtual

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 343 of file tcp.cpp.

◆ close() [5/5]

virtual void mavconn::MAVConnInterface::close ( )

pure virtual

Close connection.

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

◆ connect() [1/5]

void mavconn::MAVConnSerial::connect	(	const ReceivedCb &	cb_handle_message,
		const ClosedCb &	cb_handle_closed_port = `ClosedCb()`
	)

overridevirtual

Establish connection, automatically called by open_url()

Implements mavconn::MAVConnInterface.

Definition at line 116 of file serial.cpp.

◆ connect() [2/5]

void mavconn::MAVConnUDP::connect	(	const ReceivedCb &	cb_handle_message,
		const ClosedCb &	cb_handle_closed_port = `ClosedCb()`
	)

overridevirtual

Establish connection, automatically called by open_url()

Implements mavconn::MAVConnInterface.

Definition at line 129 of file udp.cpp.

◆ connect() [3/5]

void mavconn::MAVConnTCPClient::connect	(	const ReceivedCb &	cb_handle_message,
		const ClosedCb &	cb_handle_closed_port = `ClosedCb()`
	)

overridevirtual

Establish connection, automatically called by open_url()

Implements mavconn::MAVConnInterface.

Definition at line 129 of file tcp.cpp.

◆ connect() [4/5]

void mavconn::MAVConnTCPServer::connect	(	const ReceivedCb &	cb_handle_message,
		const ClosedCb &	cb_handle_closed_port = `ClosedCb()`
	)

overridevirtual

Establish connection, automatically called by open_url()

Implements mavconn::MAVConnInterface.

Definition at line 326 of file tcp.cpp.

◆ connect() [5/5]

virtual void mavconn::MAVConnInterface::connect	(	const ReceivedCb &	cb_handle_message,
		const ClosedCb &	cb_handle_closed_port = `ClosedCb()`
	)

pure virtual

Establish connection, automatically called by open_url()

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

◆ DeviceError()

template<typename T >

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

inline

Construct error.

Definition at line 70 of file interface.h.

◆ do_accept()

void mavconn::MAVConnTCPServer::do_accept ( )

private

Definition at line 433 of file tcp.cpp.

◆ do_read()

void mavconn::MAVConnSerial::do_read ( void )

private

Definition at line 213 of file serial.cpp.

◆ do_recv()

void mavconn::MAVConnTCPClient::do_recv ( )

private

Definition at line 231 of file tcp.cpp.

◆ do_recvfrom()

void mavconn::MAVConnUDP::do_recvfrom ( )

private

Definition at line 242 of file udp.cpp.

◆ do_send()

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

private

Definition at line 251 of file tcp.cpp.

◆ do_sendto()

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

private

Definition at line 266 of file udp.cpp.

◆ do_write()

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

private

Definition at line 230 of file serial.cpp.

◆ dpos()

uint8_t* mavconn::MsgBuffer::dpos ( )

inline

Definition at line 86 of file msgbuffer.h.

◆ get_buffer_p()

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

inlineprotected

Definition at line 280 of file interface.h.

◆ get_component_id()

uint8_t mavconn::MAVConnInterface::get_component_id ( )

inline

Definition at line 214 of file interface.h.

◆ get_iostat() [1/2]

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

overridevirtual

Reimplemented from mavconn::MAVConnInterface.

Definition at line 386 of file tcp.cpp.

◆ get_iostat() [2/2]

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

virtual

Reimplemented in mavconn::MAVConnTCPServer.

Definition at line 61 of file interface.cpp.

◆ get_known_dialects()

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

static

◆ get_protocol_version()

Protocol mavconn::MAVConnInterface::get_protocol_version ( )

Definition at line 186 of file interface.cpp.

◆ get_remote_endpoint()

std::string mavconn::MAVConnUDP::get_remote_endpoint ( ) const

Definition at line 314 of file udp.cpp.

◆ get_status() [1/2]

mavlink_status_t mavconn::MAVConnTCPServer::get_status ( )

overridevirtual

Reimplemented from mavconn::MAVConnInterface.

Definition at line 362 of file tcp.cpp.

◆ get_status() [2/2]

mavlink_status_t mavconn::MAVConnInterface::get_status ( )

virtual

Reimplemented in mavconn::MAVConnTCPServer.

Definition at line 56 of file interface.cpp.

◆ get_status_p()

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

inlineprotected

Definition at line 276 of file interface.h.

◆ get_system_id()

uint8_t mavconn::MAVConnInterface::get_system_id ( )

inline

Definition at line 208 of file interface.h.

◆ init_msg_entry()

static void mavconn::MAVConnInterface::init_msg_entry ( )

staticprivate

Initialize message_entries map

autogenerated. placed in mavlink_helpers.cpp

◆ iostat_rx_add()

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

protected

Definition at line 91 of file interface.cpp.

◆ iostat_tx_add()

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

protected

Definition at line 86 of file interface.cpp.

◆ is_open() [1/5]

bool mavconn::MAVConnSerial::is_open ( )

inlineoverridevirtual

Implements mavconn::MAVConnInterface.

Definition at line 54 of file serial.h.

◆ is_open() [2/5]

bool mavconn::MAVConnUDP::is_open ( )

inlineoverridevirtual

Implements mavconn::MAVConnInterface.

Definition at line 62 of file udp.h.

◆ is_open() [3/5]

bool mavconn::MAVConnTCPClient::is_open ( )

inlineoverridevirtual

Implements mavconn::MAVConnInterface.

Definition at line 63 of file tcp.h.

◆ is_open() [4/5]

bool mavconn::MAVConnTCPServer::is_open ( )

inlineoverridevirtual

Implements mavconn::MAVConnInterface.

Definition at line 122 of file tcp.h.

◆ is_open() [5/5]

virtual bool mavconn::MAVConnInterface::is_open ( )

pure virtual

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

◆ log_recv()

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

protected

Definition at line 117 of file interface.cpp.

◆ log_send()

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

protected

Definition at line 132 of file interface.cpp.

◆ log_send_obj()

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

protected

Definition at line 142 of file interface.cpp.

◆ make_message()

template<typename T >

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

inlinestatic

Definition at line 75 of file interface.h.

◆ MAVConnInterface() [1/2]

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

privatedelete

◆ MAVConnInterface() [2/2]

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.

◆ MAVConnSerial()

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.

◆ MAVConnTCPClient() [1/2]

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.

◆ MAVConnTCPClient() [2/2]

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 102 of file tcp.cpp.

◆ MAVConnTCPServer()

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 297 of file tcp.cpp.

◆ MAVConnUDP()

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.

◆ msg_to_string() [1/3]

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

inlinestatic

Definition at line 81 of file interface.h.

◆ msg_to_string() [2/3]

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

inlinestatic

Definition at line 85 of file interface.h.

◆ msg_to_string() [3/3]

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

inlinestatic

Definition at line 89 of file interface.h.

◆ MsgBuffer() [1/4]

mavconn::MsgBuffer::MsgBuffer ( )

inline

Definition at line 34 of file msgbuffer.h.

◆ MsgBuffer() [2/4]

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

inlineexplicit

Buffer constructor from mavlink_message_t.

Definition at line 42 of file msgbuffer.h.

◆ MsgBuffer() [3/4]

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.

◆ MsgBuffer() [4/4]

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.

◆ nbytes()

ssize_t mavconn::MsgBuffer::nbytes ( )

inline

Definition at line 90 of file msgbuffer.h.

◆ open_url()

MAVConnInterface::Ptr mavconn::MAVConnInterface::open_url	(	std::string	url,
		uint8_t	system_id = `1`,
		uint8_t	component_id = `MAV_COMP_ID_UDP_BRIDGE`,
		const ReceivedCb &	cb_handle_message = `ReceivedCb()`,
		const ClosedCb &	cb_handle_closed_port = `ClosedCb()`
	)

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 409 of file interface.cpp.

◆ open_url_no_connect()

MAVConnInterface::Ptr mavconn::MAVConnInterface::open_url_no_connect	(	std::string	url,
		uint8_t	system_id = `1`,
		uint8_t	component_id = `MAV_COMP_ID_UDP_BRIDGE`
	)

static

version of open_url() which do not perform connect()

Definition at line 339 of file interface.cpp.

◆ parse_buffer()

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.

◆ resolve_address_tcp()

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.

◆ resolve_address_udp()

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.

◆ send_bytes() [1/5]

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 153 of file serial.cpp.

◆ send_bytes() [2/5]

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 167 of file udp.cpp.

◆ send_bytes() [3/5]

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 171 of file tcp.cpp.

◆ send_bytes() [4/5]

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 409 of file tcp.cpp.

◆ send_bytes() [5/5]

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.

◆ send_message() [1/11]

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.

◆ send_message() [2/11]

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 193 of file serial.cpp.

◆ send_message() [3/11]

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.

◆ send_message() [4/11]

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 217 of file udp.cpp.

◆ send_message() [5/11]

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.

◆ send_message() [6/11]

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 211 of file tcp.cpp.

◆ send_message() [7/11]

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.

◆ send_message() [8/11]

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 425 of file tcp.cpp.

◆ send_message() [9/11]

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.

◆ send_message() [10/11]

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 154 of file interface.h.

◆ send_message() [11/11]

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.

◆ send_message_ignore_drop() [1/3]

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.

◆ send_message_ignore_drop() [2/3]

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 187 of file interface.h.

◆ send_message_ignore_drop() [3/3]

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.

◆ set_component_id()

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

inline

Definition at line 217 of file interface.h.

◆ set_protocol_version()

void mavconn::MAVConnInterface::set_protocol_version ( Protocol pver )

Set protocol used for encoding mavlink::Mavlink messages.

Definition at line 173 of file interface.cpp.

◆ set_system_id()

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

inline

Definition at line 211 of file interface.h.

◆ url_parse_host()

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 197 of file interface.cpp.

◆ url_parse_query()

static void mavconn::url_parse_query	(	std::string	query,
		uint8_t &	sysid,
		uint8_t &	compid
	)

static

Parse ?ids=sid,cid

Definition at line 233 of file interface.cpp.

◆ url_parse_serial()

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 264 of file interface.cpp.

◆ url_parse_tcp_client()

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 309 of file interface.cpp.

◆ url_parse_tcp_server()

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 324 of file interface.cpp.

◆ url_parse_udp()

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 279 of file interface.cpp.

◆ ~MAVConnSerial()

mavconn::MAVConnSerial::~MAVConnSerial ( )

virtual

Definition at line 111 of file serial.cpp.

◆ ~MAVConnTCPClient()

mavconn::MAVConnTCPClient::~MAVConnTCPClient ( )

virtual

Definition at line 123 of file tcp.cpp.

◆ ~MAVConnTCPServer()

mavconn::MAVConnTCPServer::~MAVConnTCPServer ( )

virtual

Definition at line 320 of file tcp.cpp.

◆ ~MAVConnUDP()

mavconn::MAVConnUDP::~MAVConnUDP ( )

virtual

Definition at line 124 of file udp.cpp.

◆ ~MsgBuffer()

virtual mavconn::MsgBuffer::~MsgBuffer ( )

inlinevirtual

Definition at line 81 of file msgbuffer.h.

Variable Documentation

◆ acceptor

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

private

Definition at line 131 of file tcp.h.

◆ bind_ep [1/2]

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

private

Definition at line 79 of file udp.h.

◆ bind_ep [2/2]

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

private

Definition at line 132 of file tcp.h.

◆ BROADCAST_REMOTE_HOST

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.

◆ client_list

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

private

Definition at line 136 of file tcp.h.

◆ comp_id

uint8_t mavconn::MAVConnInterface::comp_id

protected

Connection Component Id.

Definition at line 263 of file interface.h.

◆ conn_id

size_t mavconn::MAVConnInterface::conn_id

protected

Channel number used for logging.

Definition at line 274 of file interface.h.

◆ conn_id_counter

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

staticprivate

monotonic counter (increment only)

Definition at line 309 of file interface.h.

◆ data

uint8_t mavconn::MsgBuffer::data[MAX_SIZE]

Definition at line 30 of file msgbuffer.h.

◆ DEFAULT_BAUDRATE

constexpr auto mavconn::MAVConnSerial::DEFAULT_BAUDRATE = 57600

static

Definition at line 33 of file serial.h.

◆ DEFAULT_BIND_HOST [1/2]

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

static

Definition at line 34 of file udp.h.

◆ DEFAULT_BIND_HOST [2/2]

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

static

Definition at line 100 of file tcp.h.

◆ DEFAULT_BIND_PORT [1/2]

constexpr auto mavconn::MAVConnUDP::DEFAULT_BIND_PORT = 14555

static

Definition at line 35 of file udp.h.

◆ DEFAULT_BIND_PORT [2/2]

constexpr auto mavconn::MAVConnTCPServer::DEFAULT_BIND_PORT = 5760

static

Definition at line 101 of file tcp.h.

◆ DEFAULT_DEVICE

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

static

Definition at line 32 of file serial.h.

◆ DEFAULT_REMOTE_HOST

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

static

Definition at line 36 of file udp.h.

◆ DEFAULT_REMOTE_PORT

constexpr auto mavconn::MAVConnUDP::DEFAULT_REMOTE_PORT = 14550

static

Definition at line 37 of file udp.h.

◆ DEFAULT_SERVER_HOST

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

static

Definition at line 37 of file tcp.h.

◆ DEFAULT_SERVER_PORT

constexpr auto mavconn::MAVConnTCPClient::DEFAULT_SERVER_PORT = 5760

static

Definition at line 38 of file tcp.h.

◆ init_flag

std::once_flag mavconn::MAVConnInterface::init_flag

staticprivate

init_msg_entry() once flag

Definition at line 312 of file interface.h.

◆ io_service [1/4]

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

private

Definition at line 59 of file serial.h.

◆ io_service [2/4]

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

private

Definition at line 69 of file udp.h.

◆ io_service [3/4]

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

private

Definition at line 69 of file tcp.h.

◆ io_service [4/4]

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

private

Definition at line 127 of file tcp.h.

◆ io_thread [1/4]

std::thread mavconn::MAVConnSerial::io_thread

private

Definition at line 60 of file serial.h.

◆ io_thread [2/4]

std::thread mavconn::MAVConnUDP::io_thread

private

Definition at line 71 of file udp.h.

◆ io_thread [3/4]

std::thread mavconn::MAVConnTCPClient::io_thread

private

Definition at line 71 of file tcp.h.

◆ io_thread [4/4]

std::thread mavconn::MAVConnTCPServer::io_thread

private

Definition at line 129 of file tcp.h.

◆ io_work [1/3]

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

private

Definition at line 70 of file udp.h.

◆ io_work [2/3]

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

private

Definition at line 70 of file tcp.h.

◆ io_work [3/3]

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

private

Definition at line 128 of file tcp.h.

◆ iostat_mutex

std::recursive_mutex mavconn::MAVConnInterface::iostat_mutex

private

Definition at line 304 of file interface.h.

◆ is_destroying [1/2]

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

private

Definition at line 76 of file tcp.h.

◆ is_destroying [2/2]

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

private

Definition at line 134 of file tcp.h.

◆ last_iostat

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

private

Definition at line 306 of file interface.h.

◆ last_remote_ep

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

private

Definition at line 78 of file udp.h.

◆ last_rx_total_bytes

size_t mavconn::MAVConnInterface::last_rx_total_bytes

private

Definition at line 305 of file interface.h.

◆ last_tx_total_bytes

size_t mavconn::MAVConnInterface::last_tx_total_bytes

private

Definition at line 305 of file interface.h.

◆ len

ssize_t mavconn::MsgBuffer::len

Definition at line 31 of file msgbuffer.h.

◆ m_buffer

mavlink::mavlink_message_t mavconn::MAVConnInterface::m_buffer

private

Definition at line 300 of file interface.h.

◆ m_mavlink_status

mavlink::mavlink_status_t mavconn::MAVConnInterface::m_mavlink_status

private

Definition at line 301 of file interface.h.

◆ m_parse_status

mavlink::mavlink_status_t mavconn::MAVConnInterface::m_parse_status

private

Definition at line 299 of file interface.h.

◆ MAV_COMP_ID_UDP_BRIDGE

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.

◆ MAX_PACKET_SIZE

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 266 of file interface.h.

◆ MAX_SIZE

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.

◆ MAX_TXQ_SIZE

constexpr size_t mavconn::MAVConnInterface::MAX_TXQ_SIZE = 1000

staticprotected

Maximum count of transmission buffers.

Definition at line 268 of file interface.h.

◆ message_entries

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 271 of file interface.h.

◆ message_received_cb

ReceivedCb mavconn::MAVConnInterface::message_received_cb

Message receive callback.

Definition at line 200 of file interface.h.

◆ mutex [1/4]

std::recursive_mutex mavconn::MAVConnSerial::mutex

private

Definition at line 66 of file serial.h.

◆ mutex [2/4]

std::recursive_mutex mavconn::MAVConnTCPClient::mutex

private

Definition at line 81 of file tcp.h.

◆ mutex [3/4]

std::recursive_mutex mavconn::MAVConnUDP::mutex

private

Definition at line 84 of file udp.h.

◆ mutex [4/4]

std::recursive_mutex mavconn::MAVConnTCPServer::mutex

private

Definition at line 137 of file tcp.h.

◆ permanent_broadcast

bool mavconn::MAVConnUDP::permanent_broadcast

private

Definition at line 72 of file udp.h.

◆ PERMANENT_BROADCAST_REMOTE_HOST

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

static

Definition at line 40 of file udp.h.

◆ port_closed_cb

ClosedCb mavconn::MAVConnInterface::port_closed_cb

Port closed notification callback.

Definition at line 202 of file interface.h.

◆ pos

ssize_t mavconn::MsgBuffer::pos

Definition at line 32 of file msgbuffer.h.

◆ recv_ep

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

private

Definition at line 77 of file udp.h.

◆ remote_ep

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

private

Definition at line 76 of file udp.h.

◆ remote_exists

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

private

Definition at line 74 of file udp.h.

◆ rx_buf [1/3]

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

private

Definition at line 65 of file serial.h.

◆ rx_buf [2/3]

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

private

Definition at line 80 of file tcp.h.

◆ rx_buf [3/3]

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

private

Definition at line 83 of file udp.h.

◆ rx_speed

float mavconn::MAVConnInterface::IOStat::rx_speed

current receive speed [B/s]

Definition at line 112 of file interface.h.

◆ rx_total_bytes [1/2]

size_t mavconn::MAVConnInterface::IOStat::rx_total_bytes

total bytes received

Definition at line 110 of file interface.h.

◆ rx_total_bytes [2/2]

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

private

Definition at line 303 of file interface.h.

◆ serial_dev

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

private

Definition at line 61 of file serial.h.

◆ server_ep

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

private

Definition at line 74 of file tcp.h.

◆ socket [1/2]

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

private

Definition at line 73 of file tcp.h.

◆ socket [2/2]

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

private

Definition at line 75 of file udp.h.

◆ sys_id

uint8_t mavconn::MAVConnInterface::sys_id

protected

Connection System Id.

Definition at line 262 of file interface.h.

◆ tx_in_progress [1/3]

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

private

Definition at line 63 of file serial.h.

◆ tx_in_progress [2/3]

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

private

Definition at line 78 of file tcp.h.

◆ tx_in_progress [3/3]

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

private

Definition at line 81 of file udp.h.

◆ tx_q [1/3]

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

private

Definition at line 64 of file serial.h.

◆ tx_q [2/3]

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

private

Definition at line 79 of file tcp.h.

◆ tx_q [3/3]

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

private

Definition at line 82 of file udp.h.

◆ tx_speed

float mavconn::MAVConnInterface::IOStat::tx_speed

current transfer speed [B/s]

Definition at line 111 of file interface.h.

◆ tx_total_bytes [1/2]

size_t mavconn::MAVConnInterface::IOStat::tx_total_bytes

total bytes transferred

Definition at line 109 of file interface.h.

◆ tx_total_bytes [2/2]

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

private

Definition at line 303 of file interface.h.

Friends

◆ MAVConnTCPServer

friend class MAVConnTCPServer

friend

Definition at line 68 of file tcp.h.

◆ mavlink::mavlink_get_msg_entry

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

friend

Namespaces

Classes

Macros

Typedefs

Enumerations

Functions

Variables

Friends

Detailed Description

Macro Definition Documentation

◆ CONSOLE_BRIDGE_logDebug

◆ CONSOLE_BRIDGE_logError

◆ CONSOLE_BRIDGE_logInform

◆ CONSOLE_BRIDGE_logWarn

◆ GET_IO_SERVICE

◆ PFX [1/4]

◆ PFX [2/4]

◆ PFX [3/4]

◆ PFX [4/4]

◆ PFXd [1/3]

◆ PFXd [2/3]

◆ PFXd [3/3]

Typedef Documentation

◆ ClosedCb

◆ ConstPtr

◆ lock_guard

◆ Ptr

◆ ReceivedCb

◆ steady_clock

◆ WeakPtr

Enumeration Type Documentation

◆ Framing

◆ Protocol

Function Documentation

◆ client_closed()

◆ client_connected()

◆ close() [1/5]

◆ close() [2/5]

◆ close() [3/5]

◆ close() [4/5]

◆ close() [5/5]

◆ connect() [1/5]

◆ connect() [2/5]

◆ connect() [3/5]

◆ connect() [4/5]

◆ connect() [5/5]

◆ DeviceError()

◆ do_accept()

◆ do_read()

◆ do_recv()

◆ do_recvfrom()

◆ do_send()

◆ do_sendto()

◆ do_write()

◆ dpos()

◆ get_buffer_p()

◆ get_component_id()

◆ get_iostat() [1/2]

◆ get_iostat() [2/2]

◆ get_known_dialects()

◆ get_protocol_version()

◆ get_remote_endpoint()

◆ get_status() [1/2]

◆ get_status() [2/2]

◆ get_status_p()

◆ get_system_id()

◆ init_msg_entry()

◆ iostat_rx_add()

◆ iostat_tx_add()

◆ is_open() [1/5]

◆ is_open() [2/5]

◆ is_open() [3/5]

◆ is_open() [4/5]

◆ is_open() [5/5]

◆ log_recv()

◆ log_send()

◆ log_send_obj()

◆ make_message()

◆ MAVConnInterface() [1/2]

◆ MAVConnInterface() [2/2]