Generic mavlink interface. More...
#include <interface.h>
Inheritance diagram for mavconn::MAVConnInterface:
Classes | |
| struct | IOStat |
Public Types | |
| using | ClosedCb = std::function< void(void)> |
| using | ConstPtr = std::shared_ptr< MAVConnInterface const > |
| using | Ptr = std::shared_ptr< MAVConnInterface > |
| using | ReceivedCb = std::function< void(const mavlink::mavlink_message_t *message, const Framing framing)> |
| using | WeakPtr = std::weak_ptr< MAVConnInterface > |
Public Member Functions | |
| virtual void | close ()=0 |
| Close connection. More... | |
| virtual void | connect (const ReceivedCb &cb_handle_message, const ClosedCb &cb_handle_closed_port=ClosedCb())=0 |
| Establish connection, automatically called by open_url() More... | |
| uint8_t | get_component_id () |
| virtual IOStat | get_iostat () |
| Protocol | get_protocol_version () |
| virtual mavlink::mavlink_status_t | get_status () |
| uint8_t | get_system_id () |
| virtual bool | is_open ()=0 |
| MAVConnInterface (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE) | |
| virtual void | send_bytes (const uint8_t *bytes, size_t length)=0 |
| Send raw bytes (for some quirks) More... | |
| virtual void | send_message (const mavlink::mavlink_message_t *message)=0 |
| Send message (mavlink_message_t) More... | |
| virtual void | send_message (const mavlink::Message &message) |
| Send message (child of mavlink::Message) More... | |
| virtual void | send_message (const mavlink::Message &message, const uint8_t src_compid)=0 |
| Send message (child of mavlink::Message) More... | |
| void | send_message_ignore_drop (const mavlink::mavlink_message_t *message) |
| Send message and ignore possible drop due to Tx queue limit. More... | |
| void | send_message_ignore_drop (const mavlink::Message &message) |
| Send message and ignore possible drop due to Tx queue limit. More... | |
| void | 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 | set_component_id (uint8_t compid) |
| void | set_protocol_version (Protocol pver) |
| void | set_system_id (uint8_t sysid) |
Static Public Member Functions | |
| static std::vector< std::string > | get_known_dialects () |
| static Ptr | 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 | 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... | |
Public Attributes | |
| ReceivedCb | message_received_cb |
| Message receive callback. More... | |
| ClosedCb | port_closed_cb |
| Port closed notification callback. More... | |
Protected Member Functions | |
| mavlink::mavlink_message_t * | get_buffer_p () |
| mavlink::mavlink_status_t * | get_status_p () |
| void | iostat_rx_add (size_t bytes) |
| void | iostat_tx_add (size_t bytes) |
| void | log_recv (const char *pfx, mavlink::mavlink_message_t &msg, Framing framing) |
| void | log_send (const char *pfx, const mavlink::mavlink_message_t *msg) |
| void | log_send_obj (const char *pfx, const mavlink::Message &msg) |
| void | parse_buffer (const char *pfx, uint8_t *buf, const size_t bufsize, size_t bytes_received) |
Protected Attributes | |
| uint8_t | comp_id |
| Connection Component Id. More... | |
| size_t | conn_id |
| Channel number used for logging. More... | |
| uint8_t | sys_id |
| Connection System Id. More... | |
Static Protected Attributes | |
| static constexpr size_t | MAX_PACKET_SIZE = MAVLINK_MAX_PACKET_LEN + 16 |
| Maximum mavlink packet size + some extra bytes for padding. More... | |
| static constexpr size_t | MAX_TXQ_SIZE = 1000 |
| Maximum count of transmission buffers. More... | |
| static std::unordered_map< mavlink::msgid_t, const mavlink::mavlink_msg_entry_t * > | message_entries {} |
| This map merge all dialect mavlink_msg_entry_t structs. Needed for packet parser. More... | |
Private Member Functions | |
| MAVConnInterface (const MAVConnInterface &)=delete | |
Static Private Member Functions | |
| static void | init_msg_entry () |
Private Attributes | |
| std::recursive_mutex | iostat_mutex |
| std::chrono::time_point< steady_clock > | last_iostat |
| size_t | last_rx_total_bytes |
| size_t | last_tx_total_bytes |
| mavlink::mavlink_message_t | m_buffer |
| mavlink::mavlink_status_t | m_mavlink_status |
| mavlink::mavlink_status_t | m_parse_status |
| std::atomic< size_t > | rx_total_bytes |
| std::atomic< size_t > | tx_total_bytes |
Static Private Attributes | |
| static std::atomic< size_t > | conn_id_counter {0} |
| monotonic counter (increment only) More... | |
| static std::once_flag | init_flag |
| init_msg_entry() once flag More... | |
Friends | |
| const friend mavlink::mavlink_msg_entry_t * | mavlink::mavlink_get_msg_entry (uint32_t msgid) |
Detailed Description
Generic mavlink interface.
Definition at line 97 of file interface.h.
The documentation for this class was generated from the following files: