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80 lines
1.9 KiB
80 lines
1.9 KiB
/**
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* @brief MAVConn message buffer class (internal)
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* @file msgbuffer.h
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* @author Vladimir Ermakov <vooon341@gmail.com>
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* @author Amy Wagoner <arwagoner@gmail.com> (adaptation to Gazebo)
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*/
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/**
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* Copyright 2017 MAVROS dev team. All rights reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#pragma once
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#include <cassert>
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#include <development/mavlink.h>
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namespace gazebo {
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/**
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* @brief Message buffer for internal use in libmavconn
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*/
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struct MsgBuffer {
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//! Maximum buffer size with padding for CRC bytes (280 + padding)
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static constexpr ssize_t MAX_SIZE = MAVLINK_MAX_PACKET_LEN + 16;
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uint8_t data[MAX_SIZE];
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ssize_t len;
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ssize_t pos;
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MsgBuffer() :
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pos(0),
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len(0)
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{ }
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/**
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* @brief Buffer constructor from mavlink_message_t
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*/
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explicit MsgBuffer(const mavlink_message_t *msg) :
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pos(0)
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{
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len = mavlink_msg_to_send_buffer(data, msg);
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// paranoic check, it must be less than MAVLINK_MAX_PACKET_LEN
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assert(len < MAX_SIZE);
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}
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/**
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* @brief Buffer constructor for send_bytes()
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* @param[in] nbytes should be less than MAX_SIZE
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*/
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MsgBuffer(const uint8_t *bytes, ssize_t nbytes) :
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pos(0),
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len(nbytes)
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{
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assert(0 < nbytes && nbytes < MAX_SIZE);
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memcpy(data, bytes, nbytes);
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}
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virtual ~MsgBuffer() {
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pos = 0;
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len = 0;
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}
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uint8_t *dpos() {
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return data + pos;
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}
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ssize_t nbytes() {
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return len - pos;
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}
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};
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} // namespace gazebo
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