56 lines
1.8 KiB
C++
56 lines
1.8 KiB
C++
|
// Copyright 2018-2020 The MathWorks, Inc.
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file mavlinkcodegen_MAVLinkParserInterface.hpp
|
||
|
|
* @brief Interface for MAVLink parser
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef MAVLINKCODEGEN_MAVLINK_PARSER_INTERFACE_HPP
|
||
|
|
#define MAVLINKCODEGEN_MAVLINK_PARSER_INTERFACE_HPP
|
||
|
|
|
||
|
|
#ifdef BUILDING_LIBMWMAVLINKCODEGEN
|
||
|
|
#include "mavlinkcodegen/mavlinkcodegen_MAVLinkWrapper.hpp" // for mavlink_message_t
|
||
|
|
#else
|
||
|
|
#include "mavlinkcodegen_MAVLinkWrapper.hpp" // for mavlink_message_t
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#include <cstdint> // for uint16_t
|
||
|
|
#include <vector>
|
||
|
|
#include <stddef.h> // for size_t
|
||
|
|
|
||
|
|
namespace uavlib {
|
||
|
|
namespace mavlink {
|
||
|
|
/// Abstract interface for MAVLinkParser
|
||
|
|
class LIBMWMAVLINK_API MAVLinkParserInterface {
|
||
|
|
public:
|
||
|
|
/// virtual destructor
|
||
|
|
virtual ~MAVLinkParserInterface() = default;
|
||
|
|
|
||
|
|
/// fill the mavlink_message_t struct with channel specific information
|
||
|
|
virtual void finalizeMsg(mavlink_message_t& msg,
|
||
|
|
uint8_t sysid,
|
||
|
|
uint8_t compid,
|
||
|
|
uint8_t minlen,
|
||
|
|
uint8_t len,
|
||
|
|
uint8_t crcExtra) = 0;
|
||
|
|
|
||
|
|
/// convert byte array to mavlink_message_t struct
|
||
|
|
virtual std::vector<mavlink_message_t> deserialize(uint8_t const* buffer, size_t len) = 0;
|
||
|
|
|
||
|
|
/// convert finalized mavlink_message_t struct to byte array
|
||
|
|
virtual std::vector<uint8_t> serialize(std::vector<mavlink_message_t> const& msg) const = 0;
|
||
|
|
|
||
|
|
/// set the MAVLink protocol used by parser
|
||
|
|
virtual void setVersion(uint32_t version) = 0;
|
||
|
|
|
||
|
|
/// get the MAVLink protocol used by parser
|
||
|
|
virtual uint32_t getVersion() const = 0;
|
||
|
|
|
||
|
|
/// switch between MAVLink dialects by updating Message Entries information
|
||
|
|
virtual void updateMessageEntries(std::vector<double> const& entries) = 0;
|
||
|
|
};
|
||
|
|
} // namespace mavlink
|
||
|
|
} // namespace uavlib
|
||
|
|
|
||
|
|
#endif
|