MAVConn connection handling library. More...

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...
Namespaces
namespace	mavconn
Defines
#define	_DIALECT(name) _DIALECT_CONCAT(name)
#define	_DIALECT_ardupilotmega 1
#define	_DIALECT_ASLUAV 11
#define	_DIALECT_autoquad 2
#define	_DIALECT_common 3
#define	_DIALECT_CONCAT(name) _DIALECT_ ## name
#define	_DIALECT_matrixpilot 4
#define	_DIALECT_minimal 5
#define	_DIALECT_paparazzi 12
#define	_DIALECT_pixhawk 6 /* removed */
#define	_DIALECT_sensesoar 10 /* removed */
#define	_DIALECT_slugs 7
#define	_DIALECT_test 8
#define	_DIALECT_ualberta 9
#define	MAVLINK_DIALECT common
#define	MAVLINK_GET_CHANNEL_BUFFER
#define	MAVLINK_GET_CHANNEL_STATUS
#define	PFX "mavconn: "
#define	PFXd "mavconn: serial%d: "
#define	PFXd "mavconn: tcp%d: "
#define	PFXd "mavconn: udp%d: "
Typedefs
typedef boost::shared_ptr < MAVConnInterface const >	mavconn::MAVConnInterface::ConstPtr
typedef std::lock_guard < std::recursive_mutex >	mavconn::lock_guard
typedef sig2::signal< void(const mavlink_message_t *message, uint8_t system_id, uint8_t component_id)	mavconn::MAVConnInterface::MessageSig )
typedef boost::shared_ptr < MAVConnInterface >	mavconn::MAVConnInterface::Ptr
typedef boost::weak_ptr < MAVConnInterface >	mavconn::MAVConnInterface::WeakPtr
Functions
void	mavconn::MAVConnTCPServer::async_accept_end (boost::system::error_code)
void	mavconn::MAVConnSerial::async_read_end (boost::system::error_code, size_t bytes_transferred)
void	mavconn::MAVConnUDP::async_receive_end (boost::system::error_code, size_t bytes_transferred)
void	mavconn::MAVConnTCPClient::async_receive_end (boost::system::error_code, size_t bytes_transferred)
void	mavconn::MAVConnTCPClient::async_send_end (boost::system::error_code, size_t bytes_transferred)
void	mavconn::MAVConnUDP::async_sendto_end (boost::system::error_code, size_t bytes_transferred)
void	mavconn::MAVConnSerial::async_write_end (boost::system::error_code, size_t bytes_transferred)
static int	mavconn::MAVConnInterface::channes_available ()
void	mavconn::MAVConnTCPServer::client_closed (boost::weak_ptr< MAVConnTCPClient > weak_instp)
void	mavconn::MAVConnTCPClient::client_connected (int server_channel)
void	mavconn::MAVConnSerial::close ()
	Close connection.
void	mavconn::MAVConnUDP::close ()
	Close connection.
void	mavconn::MAVConnTCPClient::close ()
	Close connection.
void	mavconn::MAVConnTCPServer::close ()
	Close connection.
virtual void	mavconn::MAVConnInterface::close ()=0
	Close connection.
static void	mavconn::MAVConnInterface::delete_channel (int chan)
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 ()
int	mavconn::MAVConnInterface::get_channel ()
uint8_t	mavconn::MAVConnInterface::get_component_id ()
IOStat	mavconn::MAVConnTCPServer::get_iostat ()
virtual IOStat	mavconn::MAVConnInterface::get_iostat ()
mavlink_status_t	mavconn::MAVConnTCPServer::get_status ()
virtual mavlink_status_t	mavconn::MAVConnInterface::get_status ()
uint8_t	mavconn::MAVConnInterface::get_system_id ()
void	mavconn::MAVConnInterface::iostat_rx_add (size_t bytes)
void	mavconn::MAVConnInterface::iostat_tx_add (size_t bytes)
bool	mavconn::MAVConnSerial::is_open ()
bool	mavconn::MAVConnUDP::is_open ()
bool	mavconn::MAVConnTCPClient::is_open ()
bool	mavconn::MAVConnTCPServer::is_open ()
virtual bool	mavconn::MAVConnInterface::is_open ()=0
template<typename T >
static std::string	mavconn::DeviceError::make_message (const char *module, T msg)
	mavconn::MAVConnInterface::MAVConnInterface (const MAVConnInterface &)
	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="/dev/ttyACM0", unsigned baudrate=57600)
	mavconn::MAVConnTCPClient::MAVConnTCPClient (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE, std::string server_host="localhost", unsigned short server_port=5760)
	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="localhost", unsigned short bind_port=5760)
	mavconn::MAVConnUDP::MAVConnUDP (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE, std::string bind_host="localhost", unsigned short bind_port=14555, std::string remote_host="", unsigned short remote_port=14550)
mavlink_message_t *	mavlink_get_channel_buffer (uint8_t chan)
mavlink_status_t *	mavlink_get_channel_status (uint8_t chan)
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_message_t *msg)
	Buffer constructor from mavlink_message_t.
	mavconn::MsgBuffer::MsgBuffer (const uint8_t *bytes, ssize_t nbytes)
	Buffer constructor for send_bytes()
ssize_t	mavconn::MsgBuffer::nbytes ()
static int	mavconn::MAVConnInterface::new_channel ()
MsgBuffer *	mavconn::MAVConnInterface::new_msgbuffer (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
static Ptr	mavconn::MAVConnInterface::open_url (std::string url, uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE)
	Construct connection from URL.
void	mavconn::MAVConnTCPServer::recv_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
static bool	mavconn::resolve_address_tcp (io_service &io, int chan, std::string host, unsigned short port, tcp::endpoint &ep)
static bool	mavconn::resolve_address_udp (io_service &io, int chan, std::string host, unsigned short port, udp::endpoint &ep)
void	mavconn::MAVConnSerial::send_bytes (const uint8_t *bytes, size_t length)
	Send raw bytes (for some quirks)
void	mavconn::MAVConnUDP::send_bytes (const uint8_t *bytes, size_t length)
	Send raw bytes (for some quirks)
void	mavconn::MAVConnTCPClient::send_bytes (const uint8_t *bytes, size_t length)
	Send raw bytes (for some quirks)
void	mavconn::MAVConnTCPServer::send_bytes (const uint8_t *bytes, size_t length)
	Send raw bytes (for some quirks)
virtual void	mavconn::MAVConnInterface::send_bytes (const uint8_t *bytes, size_t length)=0
	Send raw bytes (for some quirks)
void	mavconn::MAVConnSerial::send_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
	Send message Can be used in message_received signal.
void	mavconn::MAVConnUDP::send_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
	Send message Can be used in message_received signal.
void	mavconn::MAVConnTCPClient::send_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
	Send message Can be used in message_received signal.
void	mavconn::MAVConnTCPServer::send_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)
	Send message Can be used in message_received signal.
void	mavconn::MAVConnInterface::send_message (const mavlink_message_t *message)
	Send message with default link system/component id.
virtual void	mavconn::MAVConnInterface::send_message (const mavlink_message_t *message, uint8_t sysid, uint8_t compid)=0
	Send message Can be used in message_received signal.
void	mavconn::MAVConnInterface::set_component_id (uint8_t compid)
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)
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)
virtual	mavconn::MAVConnInterface::~MAVConnInterface ()
	mavconn::MAVConnSerial::~MAVConnSerial ()
	mavconn::MAVConnTCPClient::~MAVConnTCPClient ()
	mavconn::MAVConnTCPServer::~MAVConnTCPServer ()
	mavconn::MAVConnUDP::~MAVConnUDP ()
virtual	mavconn::MsgBuffer::~MsgBuffer ()
Variables
boost::asio::ip::tcp::acceptor	mavconn::MAVConnTCPServer::acceptor
boost::shared_ptr < MAVConnTCPClient >	mavconn::MAVConnTCPServer::acceptor_client
static std::set< int >	mavconn::MAVConnInterface::allocated_channels
boost::asio::ip::udp::endpoint	mavconn::MAVConnUDP::bind_ep
boost::asio::ip::tcp::endpoint	mavconn::MAVConnTCPServer::bind_ep
int	mavconn::MAVConnInterface::channel
static std::recursive_mutex	mavconn::MAVConnInterface::channel_mutex
std::list< boost::shared_ptr < MAVConnTCPClient > >	mavconn::MAVConnTCPServer::client_list
uint8_t	mavconn::MAVConnInterface::comp_id
uint8_t	mavconn::MsgBuffer::data [MAX_SIZE]
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::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
static mavlink_message_t	m_mavlink_buffer [MAVLINK_COMM_NUM_BUFFERS]
static mavlink_status_t	m_mavlink_status [MAVLINK_COMM_NUM_BUFFERS]
static constexpr ssize_t	mavconn::MsgBuffer::MAX_SIZE = MAVLINK_MAX_PACKET_LEN + 2 + 7
	Maximum buffer size with padding for CRC bytes (263 + 2 + align padding)
MessageSig	mavconn::MAVConnInterface::message_received
	Message receive signal.
std::recursive_mutex	mavconn::MAVConnSerial::mutex
std::recursive_mutex	mavconn::MAVConnUDP::mutex
std::recursive_mutex	mavconn::MAVConnTCPClient::mutex
std::recursive_mutex	mavconn::MAVConnTCPServer::mutex
sig2::signal< void()>	mavconn::MAVConnInterface::port_closed
ssize_t	mavconn::MsgBuffer::pos
boost::asio::ip::udp::endpoint	mavconn::MAVConnUDP::remote_ep
std::atomic< bool >	mavconn::MAVConnUDP::remote_exists
uint8_t	mavconn::MAVConnSerial::rx_buf [MsgBuffer::MAX_SIZE]
uint8_t	mavconn::MAVConnUDP::rx_buf [MsgBuffer::MAX_SIZE]
uint8_t	mavconn::MAVConnTCPClient::rx_buf [MsgBuffer::MAX_SIZE]
float	mavconn::MAVConnInterface::IOStat::rx_speed
	current receive speed [B/s]
size_t	mavconn::MAVConnInterface::IOStat::rx_total_bytes
	total bytes received
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::udp::socket	mavconn::MAVConnUDP::socket
boost::asio::ip::tcp::socket	mavconn::MAVConnTCPClient::socket
uint8_t	mavconn::MAVConnInterface::sys_id
std::atomic< bool >	mavconn::MAVConnSerial::tx_in_progress
std::atomic< bool >	mavconn::MAVConnUDP::tx_in_progress
std::atomic< bool >	mavconn::MAVConnTCPClient::tx_in_progress
std::list< MsgBuffer * >	mavconn::MAVConnSerial::tx_q
std::list< MsgBuffer * >	mavconn::MAVConnUDP::tx_q
std::list< MsgBuffer * >	mavconn::MAVConnTCPClient::tx_q
float	mavconn::MAVConnInterface::IOStat::tx_speed
	current transfer speed [B/s]
size_t	mavconn::MAVConnInterface::IOStat::tx_total_bytes
	total bytes transferred
std::atomic< size_t >	mavconn::MAVConnInterface::tx_total_bytes
Friends
class	mavconn::MAVConnTCPClient::MAVConnTCPServer

Detailed Description

MAVConn connection handling library.

This lib provide simple interface to MAVLink enabled devices such as autopilots.

Define Documentation

#define _DIALECT ( name ) _DIALECT_CONCAT(name)

Definition at line 41 of file mavlink_dialect.h.

#define _DIALECT_ardupilotmega 1

Definition at line 43 of file mavlink_dialect.h.

#define _DIALECT_ASLUAV 11

Definition at line 53 of file mavlink_dialect.h.

#define _DIALECT_autoquad 2

Definition at line 44 of file mavlink_dialect.h.

#define _DIALECT_common 3

Definition at line 45 of file mavlink_dialect.h.

#define _DIALECT_CONCAT ( name ) _DIALECT_ ## name

Definition at line 42 of file mavlink_dialect.h.

#define _DIALECT_matrixpilot 4

Definition at line 46 of file mavlink_dialect.h.

#define _DIALECT_minimal 5

Definition at line 47 of file mavlink_dialect.h.

#define _DIALECT_paparazzi 12

Definition at line 54 of file mavlink_dialect.h.

#define _DIALECT_pixhawk 6 /* removed */

Definition at line 48 of file mavlink_dialect.h.

#define _DIALECT_sensesoar 10 /* removed */

Definition at line 52 of file mavlink_dialect.h.

#define _DIALECT_slugs 7

Definition at line 49 of file mavlink_dialect.h.

#define _DIALECT_test 8

Definition at line 50 of file mavlink_dialect.h.

#define _DIALECT_ualberta 9

Definition at line 51 of file mavlink_dialect.h.

#define MAVLINK_DIALECT common

Definition at line 21 of file mavlink_dialect.h.

#define MAVLINK_GET_CHANNEL_BUFFER

Definition at line 29 of file mavlink_dialect.h.

#define MAVLINK_GET_CHANNEL_STATUS

Definition at line 28 of file mavlink_dialect.h.

#define PFX "mavconn: "

Definition at line 30 of file interface.cpp.

#define PFXd "mavconn: serial%d: "

Definition at line 31 of file serial.cpp.

#define PFXd "mavconn: tcp%d: "

Definition at line 32 of file tcp.cpp.

#define PFXd "mavconn: udp%d: "

Definition at line 32 of file udp.cpp.

Typedef Documentation

typedef boost::shared_ptr<MAVConnInterface const> mavconn::MAVConnInterface::ConstPtr

Definition at line 96 of file interface.h.

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

Definition at line 29 of file serial.cpp.

typedef sig2::signal<void(const mavlink_message_t *message, uint8_t system_id, uint8_t component_id) mavconn::MAVConnInterface::MessageSig)

Definition at line 94 of file interface.h.

typedef boost::shared_ptr<MAVConnInterface> mavconn::MAVConnInterface::Ptr

Definition at line 95 of file interface.h.

typedef boost::weak_ptr<MAVConnInterface> mavconn::MAVConnInterface::WeakPtr

Definition at line 97 of file interface.h.

Function Documentation

void mavconn::MAVConnTCPServer::async_accept_end ( boost::system::error_code ) [private]

Definition at line 374 of file tcp.cpp.

void mavconn::MAVConnSerial::async_read_end	(	boost::system::error_code	,
		size_t	bytes_transferred
	)		`[private]`

Definition at line 134 of file serial.cpp.

void mavconn::MAVConnUDP::async_receive_end	(	boost::system::error_code	,
		size_t	bytes_transferred
	)		`[private]`

Definition at line 180 of file udp.cpp.

void mavconn::MAVConnTCPClient::async_receive_end	(	boost::system::error_code	,
		size_t	bytes_transferred
	)		`[private]`

Definition at line 176 of file tcp.cpp.

void mavconn::MAVConnTCPClient::async_send_end	(	boost::system::error_code	,
		size_t	bytes_transferred
	)		`[private]`

Definition at line 219 of file tcp.cpp.

void mavconn::MAVConnUDP::async_sendto_end	(	boost::system::error_code	,
		size_t	bytes_transferred
	)		`[private]`

Definition at line 230 of file udp.cpp.

void mavconn::MAVConnSerial::async_write_end	(	boost::system::error_code	,
		size_t	bytes_transferred
	)		`[private]`

Definition at line 177 of file serial.cpp.

int mavconn::MAVConnInterface::channes_available ( ) [static, protected]

Definition at line 74 of file interface.cpp.

void mavconn::MAVConnTCPServer::client_closed ( boost::weak_ptr< MAVConnTCPClient > weak_instp ) [private]

Definition at line 401 of file tcp.cpp.

void mavconn::MAVConnTCPClient::client_connected ( int server_channel ) [private]

This special function called by TCP server when connection accepted.

Definition at line 99 of file tcp.cpp.

void mavconn::MAVConnSerial::close ( ) [virtual]

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 70 of file serial.cpp.

void mavconn::MAVConnUDP::close ( ) [virtual]

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 104 of file udp.cpp.

void mavconn::MAVConnTCPClient::close ( ) [virtual]

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 111 of file tcp.cpp.

void mavconn::MAVConnTCPServer::close ( ) [virtual]

Close connection.

Implements mavconn::MAVConnInterface.

Definition at line 284 of file tcp.cpp.

virtual void mavconn::MAVConnInterface::close ( ) [pure virtual]

Close connection.

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

void mavconn::MAVConnInterface::delete_channel ( int chan ) [static, protected]

Definition at line 68 of file interface.cpp.

template<typename T >

mavconn::DeviceError::DeviceError	(	const char *	module,
		T	msg
	)		`[inline]`

Construct error.

Definition at line 62 of file interface.h.

void mavconn::MAVConnTCPServer::do_accept ( ) [private]

Definition at line 362 of file tcp.cpp.

void mavconn::MAVConnSerial::do_read ( void ) [private]

Definition at line 124 of file serial.cpp.

void mavconn::MAVConnTCPClient::do_recv ( ) [private]

Definition at line 166 of file tcp.cpp.

void mavconn::MAVConnUDP::do_recvfrom ( ) [private]

Definition at line 169 of file udp.cpp.

void mavconn::MAVConnTCPClient::do_send ( bool check_tx_state ) [private]

Definition at line 200 of file tcp.cpp.

void mavconn::MAVConnUDP::do_sendto ( bool check_tx_state ) [private]

Definition at line 210 of file udp.cpp.

void mavconn::MAVConnSerial::do_write ( bool check_tx_state ) [private]

Definition at line 158 of file serial.cpp.

uint8_t* mavconn::MsgBuffer::dpos ( ) [inline]

Definition at line 68 of file msgbuffer.h.

int mavconn::MAVConnInterface::get_channel ( ) [inline]

Definition at line 152 of file interface.h.

uint8_t mavconn::MAVConnInterface::get_component_id ( ) [inline]

Definition at line 155 of file interface.h.

MAVConnInterface::IOStat mavconn::MAVConnTCPServer::get_iostat ( ) [virtual]

Reimplemented from mavconn::MAVConnInterface.

Definition at line 324 of file tcp.cpp.

MAVConnInterface::IOStat mavconn::MAVConnInterface::get_iostat ( ) [virtual]

Reimplemented in mavconn::MAVConnTCPServer.

Definition at line 111 of file interface.cpp.

mavlink_status_t mavconn::MAVConnTCPServer::get_status ( ) [virtual]

Reimplemented from mavconn::MAVConnInterface.

Definition at line 301 of file tcp.cpp.

mavlink_status_t mavconn::MAVConnInterface::get_status ( ) [virtual]

Reimplemented in mavconn::MAVConnTCPServer.

Definition at line 106 of file interface.cpp.

uint8_t mavconn::MAVConnInterface::get_system_id ( ) [inline]

Definition at line 153 of file interface.h.

void mavconn::MAVConnInterface::iostat_rx_add ( size_t bytes ) [protected]

Definition at line 141 of file interface.cpp.

void mavconn::MAVConnInterface::iostat_tx_add ( size_t bytes ) [protected]

Definition at line 136 of file interface.cpp.

bool mavconn::MAVConnSerial::is_open ( ) [inline, virtual]

Implements mavconn::MAVConnInterface.

Definition at line 49 of file serial.h.

bool mavconn::MAVConnUDP::is_open ( ) [inline, virtual]

Implements mavconn::MAVConnInterface.

Definition at line 52 of file udp.h.

bool mavconn::MAVConnTCPClient::is_open ( ) [inline, virtual]

Implements mavconn::MAVConnInterface.

Definition at line 55 of file tcp.h.

bool mavconn::MAVConnTCPServer::is_open ( ) [inline, virtual]

Implements mavconn::MAVConnInterface.

Definition at line 105 of file tcp.h.

virtual bool mavconn::MAVConnInterface::is_open ( ) [pure virtual]

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

template<typename T >

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

Definition at line 67 of file interface.h.

mavconn::MAVConnInterface::MAVConnInterface ( const MAVConnInterface & ) [private]

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 39 of file interface.cpp.

mavconn::MAVConnSerial::MAVConnSerial	(	uint8_t	system_id = `1`,
		uint8_t	component_id = `MAV_COMP_ID_UDP_BRIDGE`,
		std::string	device = `"/dev/ttyACM0"`,
		unsigned	baudrate = `57600`
	)

Open and run serial link.

Parameters:

[in]	device	TTY device path
[in]	baudrate	serial baudrate

Definition at line 34 of file serial.cpp.

mavconn::MAVConnTCPClient::MAVConnTCPClient	(	uint8_t	system_id = `1`,
		uint8_t	component_id = `MAV_COMP_ID_UDP_BRIDGE`,
		std::string	server_host = `"localhost"`,
		unsigned short	server_port = `5760`
	)

Create generic TCP client (connect to the server)

Parameters:

id]	server_addr remote host
id]	server_port remote port

Definition at line 61 of file tcp.cpp.

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 91 of file tcp.cpp.

mavconn::MAVConnTCPServer::MAVConnTCPServer	(	uint8_t	system_id = `1`,
		uint8_t	component_id = `MAV_COMP_ID_UDP_BRIDGE`,
		std::string	bind_host = `"localhost"`,
		unsigned short	bind_port = `5760`
	)

Parameters:

id]	server_addr bind host
id]	server_port bind port

Definition at line 250 of file tcp.cpp.

mavconn::MAVConnUDP::MAVConnUDP	(	uint8_t	system_id = `1`,
		uint8_t	component_id = `MAV_COMP_ID_UDP_BRIDGE`,
		std::string	bind_host = `"localhost"`,
		unsigned short	bind_port = `14555`,
		std::string	remote_host = `""`,
		unsigned short	remote_port = `14550`
	)

Parameters:

id]	bind_host bind host
id]	bind_port bind port
id]	remote_host remote host (optional)
id]	remote_port remote port (optional)

Definition at line 59 of file udp.cpp.

mavlink_message_t* mavlink_get_channel_buffer ( uint8_t chan )

Internal function to give access to the channel buffer for each channel

mavlink_status_t* mavlink_get_channel_status ( uint8_t chan )

Internal function to give access to the channel status for each channel

static std::string mavconn::DeviceError::msg_to_string ( const char * description ) [inline, static]

Definition at line 73 of file interface.h.

static std::string mavconn::DeviceError::msg_to_string ( int errnum ) [inline, static]

Definition at line 77 of file interface.h.

static std::string mavconn::DeviceError::msg_to_string ( boost::system::system_error & err ) [inline, static]

Definition at line 81 of file interface.h.

mavconn::MsgBuffer::MsgBuffer ( ) [inline]

Definition at line 35 of file msgbuffer.h.

mavconn::MsgBuffer::MsgBuffer ( const mavlink_message_t * msg ) [inline, explicit]

Buffer constructor from mavlink_message_t.

Definition at line 43 of file msgbuffer.h.

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 55 of file msgbuffer.h.

ssize_t mavconn::MsgBuffer::nbytes ( ) [inline]

Definition at line 72 of file msgbuffer.h.

int mavconn::MAVConnInterface::new_channel ( ) [static, protected]

Definition at line 52 of file interface.cpp.

MsgBuffer * mavconn::MAVConnInterface::new_msgbuffer	(	const mavlink_message_t *	message,
		uint8_t	sysid,
		uint8_t	compid
	)		`[protected]`

This helper function construct new MsgBuffer from message.

Definition at line 79 of file interface.cpp.

MAVConnInterface::Ptr mavconn::MAVConnInterface::open_url	(	std::string	url,
		uint8_t	system_id = `1`,
		uint8_t	component_id = `MAV_COMP_ID_UDP_BRIDGE`
	)		`[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 288 of file interface.cpp.

void mavconn::MAVConnTCPServer::recv_message	(	const mavlink_message_t *	message,
		uint8_t	sysid,
		uint8_t	compid
	)		`[private]`

Definition at line 415 of file tcp.cpp.

static bool mavconn::resolve_address_tcp	(	io_service &	io,
		int	chan,
		std::string	host,
		unsigned short	port,
		tcp::endpoint &	ep
	)		`[static]`

Definition at line 35 of file tcp.cpp.

static bool mavconn::resolve_address_udp	(	io_service &	io,
		int	chan,
		std::string	host,
		unsigned short	port,
		udp::endpoint &	ep
	)		`[static]`

Definition at line 35 of file udp.cpp.

void mavconn::MAVConnSerial::send_bytes	(	const uint8_t *	bytes,
		size_t	length
	)		`[virtual]`