98 lines
2.6 KiB
C++
98 lines
2.6 KiB
C++
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// Copyright 2018-2020 The MathWorks, Inc.
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/**
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* @file mavlinkcodegen_MAVLinkWrapper.hpp
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* @brief Wrapper for the 3p mavlink data structure
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*/
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#ifndef MAVLINKCODEGEN_MAVLINK_WRAPPER_HPP
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#define MAVLINKCODEGEN_MAVLINK_WRAPPER_HPP
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// magic header for MAVLink V2; MAVLink V1 header is MAVLINK_STX_MAVLINK1 = 0xfe
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#ifndef MAVLINK_STX
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#define MAVLINK_STX 253
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#endif
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// Host machines all use little Endian
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#ifndef MAVLINK_ENDIAN
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#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
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#endif
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// Host machine support aligned fields
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#ifndef MAVLINK_ALIGNED_FIELDS
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#define MAVLINK_ALIGNED_FIELDS 1
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#endif
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// use custom get message function defined here
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#ifndef MAVLINK_GET_MSG_ENTRY
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#define MAVLINK_GET_MSG_ENTRY
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#endif
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// no need to use MAVLink quaternion conversion header mavlink/mavlink_conversions.h
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#ifndef MAVLINK_NO_CONVERSION_HELPERS
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#define MAVLINK_NO_CONVERSION_HELPERS
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#endif
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#include "mavlink/mavlink_types.h"
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#include <vector>
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#include <mutex>
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#include <unordered_map>
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#ifdef BUILDING_LIBMWMAVLINKCODEGEN
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#include "mavlinkcodegen/libmwmavlink_util.hpp"
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#else
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#include "libmwmavlink_util.hpp"
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#endif
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namespace uavlib {
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namespace mavlink {
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/// singleton repository holds MAVLink message entry information
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class LIBMWMAVLINK_API MessageEntryRepository {
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public:
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/// map from msgid to MsgEntryContainer index
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typedef std::unordered_map<uint32_t, mavlink_msg_entry_t> MsgEntryLookupTbl;
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/// get singleton instance
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static MessageEntryRepository& getInstance() {
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static MessageEntryRepository instance;
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return instance;
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}
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/// get message info for a given message id
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mavlink_msg_entry_t const* getMessageInfo(uint32_t msgid) const;
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/// update message info entries
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/**
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* This function must be called from main thread
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*/
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void updateMessageInfo(MsgEntryLookupTbl const& newTbl);
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/// Get mutex associated with repository
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std::mutex& getMutex();
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private:
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/// private constructor to avoid user to directly construct this
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MessageEntryRepository();
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/// map from msgid to MAVLink message entry info
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/**
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* Each entry includes [msgid, checksum, msgLength, flag, sysid_offset, compid_offset]
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* For details, check the mavlink_msg_entry_t struct definition in mavlink/mavlink_types.h
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*/
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MsgEntryLookupTbl const* m_table;
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/// Mutex to lock the repository
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std::mutex m_mutex;
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};
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} // namespace mavlink
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} // namespace uavlib
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/// Overriding MAVLink 3p library mavlink_get_msg_entry function
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LIBMWMAVLINK_API mavlink_msg_entry_t const* mavlink_get_msg_entry(uint32_t msgid);
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#include "mavlink/protocol.h"
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#endif
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