133 lines
6.5 KiB
C++
133 lines
6.5 KiB
C++
|
/* Copyright 2020 The MathWorks, Inc. */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file mavlinkcodegen_api.hpp
|
||
|
|
* @brief Header for API of MAVLinkCodegen_api called from the
|
||
|
|
Simulink System Object during codegen.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef MAVLINKCODEGEN_API_HPP
|
||
|
|
#define MAVLINKCODEGEN_API_HPP
|
||
|
|
|
||
|
|
#ifdef BUILDING_LIBMWMAVLinkCodegen
|
||
|
|
#include "mavlinkcodegen/mavlinkcodegen_util.hpp"
|
||
|
|
#else
|
||
|
|
/* To deal with the fact that PackNGo has no include file hierarchy during test */
|
||
|
|
#include "mavlinkcodegen_util.hpp"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#include "mavlink/mavlink_types.h" // for mavlink_message_t
|
||
|
|
#include "stddef.h" // for size_t
|
||
|
|
|
||
|
|
/// create and store the pointer to the MAVLinkSerializerCodegenImpl class
|
||
|
|
/**
|
||
|
|
* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
|
||
|
|
*/
|
||
|
|
EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_constructMAVLinkCodegenPointer(void** ptrObj);
|
||
|
|
|
||
|
|
/// fill the MAVLinkML struct with channel specific information and encode the MAVLink
|
||
|
|
/// message structure to a byte array
|
||
|
|
/**
|
||
|
|
* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
|
||
|
|
* @param[in] payloadBusObj pointer to input payload structure
|
||
|
|
* @param[in] sysid System ID of sender
|
||
|
|
* @param[in] compid Component ID of sender
|
||
|
|
* @param[in] msgid Msg ID of the message to be serialized
|
||
|
|
* @param[in] minlen minimum Length of message
|
||
|
|
* @param[in] len maximum Length of message
|
||
|
|
* @param[in] crcExtra CRC of the message
|
||
|
|
* @param[in] buffer pointer to the output buffer to be filled
|
||
|
|
* @param[in] bufferLength length of serialized message
|
||
|
|
*/
|
||
|
|
EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_finalizeAndSerializeMsg(void* ptrObj,
|
||
|
|
void* payloadBusObj,
|
||
|
|
uint8_T sysid,
|
||
|
|
uint8_T compid,
|
||
|
|
uint32_T msgid,
|
||
|
|
uint8_T minlen,
|
||
|
|
uint8_T len,
|
||
|
|
uint8_T crcExtra,
|
||
|
|
uint8_T* buffer,
|
||
|
|
uint16_T* bufferLength);
|
||
|
|
|
||
|
|
/// convert byte array to MAVLink message struct and fill the fields in the
|
||
|
|
/// the MAVLink packet
|
||
|
|
/**
|
||
|
|
* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
|
||
|
|
* @param[in] msgID Msg ID of the decoded message
|
||
|
|
* @param[in] compid Component ID of the decoded message
|
||
|
|
* @param[in] seq Sequence of the decoded message
|
||
|
|
* @param[in] payloadObj pointer to output payload structure to be filled
|
||
|
|
* @param[in] isNew Is a new message for the desired MsgID
|
||
|
|
* received
|
||
|
|
* @param[in] buffer Input byte array to be decoded
|
||
|
|
* @param[in] len Length of input message
|
||
|
|
* @param[in] desiredMsgID MsgID to search for
|
||
|
|
* @param[in] filterBySystemID Filter By SystemID
|
||
|
|
* @param[in] desiredSystemID SystemID to search for
|
||
|
|
* @param[in] filterByComponentID Filter By ComponentID
|
||
|
|
* @param[in] desiredComponentID ComponentID to search for
|
||
|
|
*/
|
||
|
|
EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_deserialize(void* ptrObj,
|
||
|
|
uint32_T* msgID,
|
||
|
|
uint8_T* sysid,
|
||
|
|
uint8_T* compid,
|
||
|
|
uint8_T* seq,
|
||
|
|
void* payloadObj,
|
||
|
|
boolean_T* isNew,
|
||
|
|
uint8_T const* buffer,
|
||
|
|
size_t len,
|
||
|
|
uint32_T desiredMsgID,
|
||
|
|
bool filterBySystemID,
|
||
|
|
uint8_T desiredSystemID,
|
||
|
|
bool filterByComponentID,
|
||
|
|
uint8_T desiredComponentID);
|
||
|
|
|
||
|
|
/// set the MAVLink protocol used by parser
|
||
|
|
/**
|
||
|
|
* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
|
||
|
|
* @param[in] version MAVLink protocol version
|
||
|
|
*/
|
||
|
|
EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_setVersion(void* ptrObj, double version);
|
||
|
|
|
||
|
|
/// get the MAVLink protocol used by parser
|
||
|
|
/**
|
||
|
|
* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
|
||
|
|
* @param[in] version MAVLink protocol version
|
||
|
|
*/
|
||
|
|
EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_getVersion(void* ptrObj, double* version);
|
||
|
|
|
||
|
|
/// update the dialect with CRC_EXTRA information
|
||
|
|
/**
|
||
|
|
* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
|
||
|
|
* @param[in] messageInfo a 6*N vector containing [msgid, msgck, maxlen, flags, target_sys_offset,
|
||
|
|
* target_comp_offset]
|
||
|
|
* @param[in] size Number of MAVLink messages in the parser
|
||
|
|
*/
|
||
|
|
EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_updateMessageEntries(void* ptrObj,
|
||
|
|
double* messageInfo,
|
||
|
|
double size);
|
||
|
|
|
||
|
|
/// fetch the MAVLinkSerializerCodegenImpl Object to be used for Serialization
|
||
|
|
/**
|
||
|
|
* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
|
||
|
|
* @param[in] serializerObj a pointer to the final MAVLinkSerializerCodegenImpl object
|
||
|
|
to be used serialization
|
||
|
|
* @param[in] systemID System ID of sender
|
||
|
|
* @param[in] componentID Component ID of sender
|
||
|
|
*/
|
||
|
|
EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_fetchSerializerObj(void* ptrObj,
|
||
|
|
void** serializerObj,
|
||
|
|
uint8_T systemID,
|
||
|
|
uint8_T componentID);
|
||
|
|
|
||
|
|
/// create a pointer to a Circular Queue with a given queue size
|
||
|
|
/**
|
||
|
|
* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
|
||
|
|
* @param[in] queueSize Maximum size of Circular queue
|
||
|
|
*/
|
||
|
|
EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_createMessageQueue(void* ptrObj,
|
||
|
|
uint16_T queueSize);
|
||
|
|
|
||
|
|
#endif
|