fcu_custom_type.cpp

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#include <FlightController.hpp>

#include <iostream>

struct MyIdent : public msp::Request {
    msp::ID id() const { return msp::ID::MSP_IDENT; }

    msp::ByteVector raw_data;

    void decode(const msp::ByteVector &data) {
        raw_data = data;
    }

};

struct Callbacks {
    void onIdent(const MyIdent &ident) {
        std::cout << "Raw Ident data: ";
        for(auto d : ident.raw_data) {
            std::cout << int(d) << ",";
        }
        std::cout << std::endl;
    }
};

int main(int argc, char *argv[]) {
    const std::string device = (argc>1) ? std::string(argv[1]) : "/dev/ttyUSB0";
    const uint baudrate = (argc>2) ? std::stoul(argv[2]) : 115200;

    Callbacks cbs;
    fcu::FlightController fcu(device, baudrate);
    fcu.initialise();

    // subscribe with costum type
    fcu.subscribe(&Callbacks::onIdent, &cbs, 1);

    // Ctrl+C to quit
    std::cin.get();
}