.. _program_listing_file__tmp_ws_src_mavros_mavros_include_mavros_utils.hpp:

Program Listing for File utils.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mavros_mavros_include_mavros_utils.hpp>` (``/tmp/ws/src/mavros/mavros/include/mavros/utils.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright 2014,2015,2016,2021 Vladimir Ermakov.
    *
    * This file is part of the mavros package and subject to the license terms
    * in the top-level LICENSE file of the mavros repository.
    * https://github.com/mavlink/mavros/tree/master/LICENSE.md
    */
   #pragma once
   
   #ifndef MAVROS__UTILS_HPP_
   #define MAVROS__UTILS_HPP_
   
   #include <string>
   #include <Eigen/Geometry>   // NOLINT
   
   #include "mavconn/thread_utils.hpp"
   #include "mavros_msgs/mavlink_convert.hpp"
   #include "mavconn/mavlink_dialect.hpp"
   
   // OS X compat: missing error codes
   #ifdef __APPLE__
   #define EBADE 50        /* Invalid exchange */
   #define EBADFD 81       /* File descriptor in bad state */
   #define EBADRQC 54      /* Invalid request code */
   #define EBADSLT 55      /* Invalid slot */
   #endif
   
   namespace mavros
   {
   namespace utils
   {
   using mavconn::utils::format;
   using mavconn::utils::set_this_thread_name;
   
   enum class timesync_mode
   {
     NONE = 0,             
     MAVLINK,              
     ONBOARD,
     PASSTHROUGH,
   };
   
   template<typename _T>
   constexpr typename std::underlying_type<_T>::type enum_value(_T e)
   {
     return static_cast<typename std::underlying_type<_T>::type>(e);
   }
   
   std::string to_string(timesync_mode e);
   
   std::string to_string(mavlink::common::MAV_SENSOR_ORIENTATION e);
   
   std::string to_string(mavlink::minimal::MAV_AUTOPILOT e);
   std::string to_string(mavlink::minimal::MAV_TYPE e);
   std::string to_string(mavlink::minimal::MAV_STATE e);
   std::string to_string(mavlink::minimal::MAV_COMPONENT e);
   std::string to_string(mavlink::common::MAV_ESTIMATOR_TYPE e);
   std::string to_string(mavlink::common::ADSB_ALTITUDE_TYPE e);
   std::string to_string(mavlink::common::ADSB_EMITTER_TYPE e);
   std::string to_string(mavlink::common::MAV_MISSION_RESULT e);
   std::string to_string(mavlink::common::MAV_FRAME e);
   std::string to_string(mavlink::common::MAV_DISTANCE_SENSOR e);
   std::string to_string(mavlink::common::LANDING_TARGET_TYPE e);
   template<typename _T>
   std::string to_string_enum(int e)
   {
     return to_string(static_cast<_T>(e));
   }
   
   std::string enum_to_name(mavlink::minimal::MAV_TYPE e);
   
   Eigen::Quaterniond sensor_orientation_matching(mavlink::common::MAV_SENSOR_ORIENTATION orientation);
   
   int sensor_orientation_from_str(const std::string & sensor_orientation);
   
   timesync_mode timesync_mode_from_str(const std::string & mode);
   
   mavlink::common::MAV_FRAME mav_frame_from_str(const std::string & mav_frame);
   
   mavlink::minimal::MAV_TYPE mav_type_from_str(const std::string & mav_type);
   
   mavlink::common::LANDING_TARGET_TYPE landing_target_type_from_str(
     const std::string & landing_target_type);
   
   }       // namespace utils
   }       // namespace mavros
   
   #endif  // MAVROS__UTILS_HPP_