#include <Python.h>
#include <structmember.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <assert.h>
#include <stddef.h>
#include <setjmp.h>
#include "mavlink_defaults.h"
#include <mavlink_types.h>
#include <protocol.h>

Include dependency graph for mavnative.c:

Classes
struct	NativeConnection
struct	py_field_info_t
struct	py_message_info_t
struct	py_message_t
Defines
#define	FALSE 0
#define	mavdebug(x...)
#define	MAVLINK_ASSERT(x) assert(x)
#define	MAVLINK_MESSAGE_CRC(msgid) py_message_info[msgid].crc_extra
#define	MAVLINK_MESSAGE_LENGTH(msgid) py_message_info[msgid].len
#define	MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define	MOD_RETURN(m) return
#define	PyByteString_ConcatAndDel PyString_ConcatAndDel
#define	PyByteString_FromString PyString_FromString
#define	PyByteString_FromStringAndSize PyString_FromStringAndSize
#define	PYTHON_ENTRY if(!setjmp(python_entry)) {
#define	PYTHON_EXIT } else { return NULL; }
#define	PYTHON_EXIT_INT } else { return -1; }
#define	TRUE 1
Functions
void	__assert_fail (const char __assertion, const char __file, unsigned int __line, const char *__function)
static void	comm_send_ch (mavlink_channel_t chan, uint8_t c)
static PyObject *	createPyNone (void)
static int	get_expectedlength (NativeConnection *self)
static unsigned	get_field_size (int field_type)
static int	get_py_typeinfo (char type_char, int array_size, unsigned *wire_offset)
static void	init_message_info (PyObject *mavlink_map)
PyMODINIT_FUNC	initmavnative (void)
static PyObject *	msg_to_py (PyObject msgclass, const py_message_t pymsg)
static void	NativeConnection_dealloc (NativeConnection *self)
static PyObject *	NativeConnection_getexpectedlength (NativeConnection self, void closure)
static int	NativeConnection_init (NativeConnection self, PyObject args, PyObject *kwds)
static PyObject *	NativeConnection_new (PyTypeObject type, PyObject args, PyObject *kwds)
MAVLINK_HELPER uint8_t	py_mavlink_parse_char (uint8_t c, py_message_t pymsg, mavlink_status_t status)
static PyObject *	py_parse_buffer (NativeConnection self, PyObject args)
static PyObject *	py_parse_chars (NativeConnection self, PyObject args)
static PyObject *	pyextract_mavlink (const mavlink_message_t msg, const py_field_info_t field)
static void	set_attribute (PyObject obj, const char attrName, PyObject *val)
static void	set_pyerror (const char *msg)
Variables
static uint8_t	info_inited = FALSE
static mavlink_system_t	mavlink_system = {42,11,}
static PyObject *	MAVNativeError
static PyGetSetDef	NativeConnection_getseters []
static PyMemberDef	NativeConnection_members []
static PyMethodDef	NativeConnection_methods []
static PyTypeObject	NativeConnectionType
static py_message_info_t	py_message_info [256]
static jmp_buf	python_entry

Define Documentation

#define FALSE 0

Definition at line 69 of file mavnative.c.

#define mavdebug ( x... )

Definition at line 116 of file mavnative.c.

#define MAVLINK_ASSERT ( x ) assert(x)

Definition at line 47 of file mavnative.c.

#define MAVLINK_MESSAGE_CRC ( msgid ) py_message_info[msgid].crc_extra

Definition at line 55 of file mavnative.c.

#define MAVLINK_MESSAGE_LENGTH ( msgid ) py_message_info[msgid].len

Definition at line 64 of file mavnative.c.

#define MAVLINK_USE_CONVENIENCE_FUNCTIONS

Definition at line 35 of file mavnative.c.

#define MOD_RETURN ( m ) return

Definition at line 937 of file mavnative.c.

#define PyByteString_ConcatAndDel PyString_ConcatAndDel

Definition at line 30 of file mavnative.c.

#define PyByteString_FromString PyString_FromString

Definition at line 28 of file mavnative.c.

#define PyByteString_FromStringAndSize PyString_FromStringAndSize

Definition at line 29 of file mavnative.c.

#define PYTHON_ENTRY if(!setjmp(python_entry)) {

Definition at line 125 of file mavnative.c.

#define PYTHON_EXIT } else { return NULL; }

Definition at line 126 of file mavnative.c.

#define PYTHON_EXIT_INT } else { return -1; }

Definition at line 127 of file mavnative.c.

#define TRUE 1

Definition at line 68 of file mavnative.c.

Function Documentation

void __assert_fail	(	const char *	__assertion,
		const char *	__file,
		unsigned int	__line,
		const char *	__function
	)

Definition at line 322 of file mavnative.c.

static void comm_send_ch	(	mavlink_channel_t	chan,
		uint8_t	c
	)		`[static]`

Definition at line 42 of file mavnative.c.

static PyObject* createPyNone ( void ) [static]

Definition at line 491 of file mavnative.c.

static int get_expectedlength ( NativeConnection * self ) [static]

How many bytes would we like to read to complete current packet

Definition at line 670 of file mavnative.c.

static unsigned get_field_size ( int field_type ) [static]

Definition at line 333 of file mavnative.c.

static int get_py_typeinfo	(	char	type_char,
		int	array_size,
		unsigned *	wire_offset
	)		`[static]`

Given a python type character & array_size advance the wire_offset to the correct next value.

Returns:: the equivalent C++ type code.

Definition at line 386 of file mavnative.c.

static void init_message_info ( PyObject * mavlink_map ) [static]

We preconvert message info from the C style representation to python objects (to minimize # of object allocs).

FIXME - we really should free these PyObjects if our module gets unloaded.

Parameters:

mavlink_map - the mavlink_map object from python a dict from an int msgid -> tuple(fmt, type_class, order_list, len_list, crc_extra)

Definition at line 422 of file mavnative.c.

PyMODINIT_FUNC initmavnative ( void )

Definition at line 944 of file mavnative.c.

static PyObject* msg_to_py	(	PyObject *	msgclass,
		const py_message_t *	pymsg
	)		`[static]`

Convert a message to a valid python representation.

Returns:: new message, or null if a valid encoding could not be made

FIXME - move msgclass, the mavstatus and channel context into an instance, created once with the mavfile object

Definition at line 611 of file mavnative.c.

static void NativeConnection_dealloc ( NativeConnection * self ) [static]

Definition at line 860 of file mavnative.c.

static PyObject* NativeConnection_getexpectedlength	(	NativeConnection *	self,
		void *	closure
	)		`[static]`

Definition at line 716 of file mavnative.c.

static int NativeConnection_init	(	NativeConnection *	self,
		PyObject *	args,
		PyObject *	kwds
	)		`[static]`

Definition at line 829 of file mavnative.c.

static PyObject* NativeConnection_new	(	PyTypeObject *	type,
		PyObject *	args,
		PyObject *	kwds
	)		`[static]`

Definition at line 819 of file mavnative.c.

MAVLINK_HELPER uint8_t py_mavlink_parse_char	(	uint8_t	c,
		py_message_t *	pymsg,
		mavlink_status_t *	status
	)

(originally from mavlink_helpers.h - but now customized to not be channel based) This is a convenience function which handles the complete MAVLink parsing. the function will parse one byte at a time and return the complete packet once it could be successfully decoded. Checksum and other failures will be silently ignored.

Messages are parsed into an internal buffer (one for each channel). When a complete message is received it is copies into *returnMsg and the channel's status is copied into *returnStats.

Parameters:

c	The char to parse
returnMsg	NULL if no message could be decoded, the message data else
returnStats	if a message was decoded, this is filled with the channel's stats

Returns:: 0 if no message could be decoded, 1 else

Definition at line 147 of file mavnative.c.

static PyObject* py_parse_buffer	(	NativeConnection *	self,
		PyObject *	args
	)		`[static]`

Given an string of bytes.

This routine is more efficient than parse_chars, because it doesn't need to buffer characters.

Returns:: a list of MAVProxy_message objects

Definition at line 779 of file mavnative.c.

static PyObject* py_parse_chars	(	NativeConnection *	self,
		PyObject *	args
	)		`[static]`

Given a byte array of bytes

Returns:: a list of MAVProxy_message objects

Definition at line 726 of file mavnative.c.

static PyObject* pyextract_mavlink	(	const mavlink_message_t *	msg,
		const py_field_info_t *	field
	)		`[static]`

Extract a field value from a mavlink msg

Returns:: possibly null if mavlink stream is corrupted (FIXME, caller should check)

Definition at line 515 of file mavnative.c.

static void set_attribute	(	PyObject *	obj,
		const char *	attrName,
		PyObject *	val
	)		`[static]`

Set an attribute, but handing over ownership on the value

Definition at line 502 of file mavnative.c.

static void set_pyerror ( const char * msg ) [static]

Definition at line 317 of file mavnative.c.

Variable Documentation

uint8_t info_inited = FALSE [static]

Definition at line 91 of file mavnative.c.

mavlink_system_t mavlink_system = {42,11,} [static]

Definition at line 41 of file mavnative.c.

PyObject* MAVNativeError [static]

Definition at line 121 of file mavnative.c.

PyGetSetDef NativeConnection_getseters[] [static]

Initial value:

 {
    {"expected_length", 
     (getter)NativeConnection_getexpectedlength, NULL,
     "How many characters would the state-machine like to read now",
     NULL},
    {NULL}  
}

Definition at line 870 of file mavnative.c.

PyMemberDef NativeConnection_members[] [static]

Initial value:

 {
    {NULL}  
}

Definition at line 866 of file mavnative.c.

PyMethodDef NativeConnection_methods[] [static]

Initial value:

 {
    {"parse_chars",  (PyCFunction) py_parse_chars, METH_VARARGS,
     "Given a msg class and an array of bytes, Parse chars, returning a message or None"},    
    {"parse_buffer",  (PyCFunction) py_parse_buffer, METH_VARARGS,
     "Given a msg class and a string like object, Parse chars, returning a (possibly empty) list of messages"},
    {NULL,  NULL},
}

Definition at line 878 of file mavnative.c.

PyTypeObject NativeConnectionType [static]

Definition at line 887 of file mavnative.c.

py_message_info_t py_message_info[256] [static]

Definition at line 90 of file mavnative.c.

jmp_buf python_entry [static]

Definition at line 123 of file mavnative.c.

Classes

Defines

Functions

Variables

Define Documentation

Function Documentation

Variable Documentation