181 lines
6.8 KiB
C++
181 lines
6.8 KiB
C++
/* Copyright 2020 The MathWorks, Inc. */
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/**
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* @file mavlinkcodegen_MAVLinkSerializerCodegenImpl.hpp
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* @brief Header for API of MAVLinkSerializerCodegenImpl to be exposed using codegen.
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*/
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#pragma once
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#ifdef BUILDING_LIBMWMAVLINKCODEGEN
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#include "mavlinkcodegen/mavlinkcodegen_MAVLinkWrapper.hpp" // for mavlink_message_t
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#include "mavlinkcodegen/mavlinkcodegen_MAVLinkParserInterface.hpp"
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#include "mavlinkcodegen/mavlinkcodegen_CircularQueue.hpp" // Circular Queue
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#else
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#include "mavlinkcodegen_MAVLinkWrapper.hpp" // for mavlink_message_t
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#include "mavlinkcodegen_MAVLinkParserInterface.hpp"
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#include "mavlinkcodegen_CircularQueue.hpp" // Circular Queue
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#endif
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#include <memory>
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#include <vector>
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#include <cstdint> // for uint16_t
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#include <stddef.h> // for size_t
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namespace uavlib {
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namespace mavlink {
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/// parser for mavlink packets
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class MAVLinkParser;
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} // namespace mavlink
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///
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/**
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* MAVLinkSerializerCodegenImpl implementation of MAVLinkParser
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*/
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class MAVLinkCodegenSerializerImpl {
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public:
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/// Initialize the mavlinkparser object
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MAVLinkCodegenSerializerImpl();
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~MAVLinkCodegenSerializerImpl();
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/// fill the MAVLinkML struct with channel specific information
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/**
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* @param[in] msgs a MATLAB struct array
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* @param[in] sysid System ID of sender
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* @param[in] compid Component ID of sender
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* @param[in] minlen minimum Length of message
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* @param[in] len maximum Length of message
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* @param[in] crcExtra CRC of the message
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*/
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void finalizeMsg(mavlink_message_t& msgs,
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uint8_t sysid,
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uint8_t compid,
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uint8_t minlen,
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uint8_t len,
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uint8_t crcExtra) const;
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/// convert byte array to MAVLinkML struct
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/**
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* @param[in] buffer a uint8_t array
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* @param[in] len length of input buffer
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* @param[in] desiredMsgID MsgID to look for
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* @param[in] filterBySystemID Filter received messages by SystemID
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* @param[in] desiredSystemID SystemID to look for
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* @param[in] filterByComponentID Filter received messages by ComponentID
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* @param[in] desiredComponentID ComponentID to look for
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* @param[in] msg C++ structure to fill
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* @param[in] isNew determine if the message is New
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*/
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void deserialize(uint8_t const* buffer,
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size_t len,
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uint32_t desiredMsgID,
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bool filterBySystemID,
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uint8_t desiredSystemID,
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bool filterByComponentID,
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uint8_t desiredComponentID,
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mavlink_message_t& msg,
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bool& isNew) const;
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/// convert finalized MAVLinkML struct to byte array
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/**
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* @param[in] msg a MATLAB struct array
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* @return a uint8_t array
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*/
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std::vector<uint8_t> serialize(mavlink_message_t const& msg) const;
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/// set the MAVLink protocol used by parser
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/**
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* @param[in] version MAVLink protocol version
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*/
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void setVersion(double version);
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/// get the MAVLink protocol used by parser
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double getVersion() const;
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/// switch between MAVLink dialects by updating Message Entries information
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/**
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* @param[in] entries a 6*N vector containing [msgid, msgck, maxlen, flags, target_sys_offset,
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* target_comp_offset]
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*/
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void updateMessageEntries(std::vector<double> const& entries);
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/// fetch the MAVLinkSerializerCodegenImpl Object to be used for Serialization
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/**
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* @param[in] SystemID System ID of sender
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* @param[in] ComponentID Component ID of sender
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* @return a pointer to the final
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MAVLinkSerializerCodegenImpl object to be used serialization
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*/
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MAVLinkCodegenSerializerImpl* fetchSerializerObj(uint8_t SystemID, uint8_t ComponentID);
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/// create an object of CircularQueue
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/**
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* @param[in] queueSize Maximum size of queue
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*/
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void createMessageQueue(uint16_t queueSize);
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/// getter for internal parser
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std::shared_ptr<mavlink::MAVLinkParser> getParser() const;
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private:
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/// mavlink packet parsing utilities
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std::shared_ptr<mavlink::MAVLinkParser> m_mavlinkParser;
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/// Circular queue to store Deserialized MAVLink messages
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std::shared_ptr<CircularQueue> m_queue;
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/// Flag to check if the queuing is requested
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bool queueDeserializedMessages;
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/// extract the message with requested MsgID from the received MAVLink messages
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/**
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* @param[in] filteredMsgs Vector to store the filtered messages
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* @param[in] receivedMsgs Vector of the deserialized messages
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* @param[in] desiredMsgID MsgID to look for
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*/
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void filterReceivedMessages(std::vector<mavlink_message_t>& filteredMsgs,
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std::vector<mavlink_message_t> const& receivedMsgs,
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uint32_t desiredMsgID) const;
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/// extract the message with requested MsgID and SystemID from the received MAVLink messages
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/**
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* @param[in] filteredMsgs Vector to store the filtered messages
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* @param[in] receivedMsgs Vector of the deserialized messages
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* @param[in] desiredMsgID SystemID to look for
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* @param[in] desiredSystemID MsgID to look for
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*/
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void filterReceivedMessages(std::vector<mavlink_message_t>& filteredMsgs,
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std::vector<mavlink_message_t> const& receivedMsgs,
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uint32_t desiredMsgID,
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uint8_t desiredSystemID) const;
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/// extract the message with requested MsgID, SystemID and ComponentID from the received MAVLink
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/// messages
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/**
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* @param[in] filteredMsgs Vector to store the filtered messages
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* @param[in] receivedMsgs Vector of the deserialized messages
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* @param[in] desiredMsgID MsgID to look for
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* @param[in] desiredSystemID SystemID to look for
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* @param[in] desiredComponentID ComponentID to look for
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*/
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void filterReceivedMessages(std::vector<mavlink_message_t>& filteredMsgs,
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std::vector<mavlink_message_t> const& receivedMsgs,
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uint32_t desiredMsgID,
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uint8_t desiredSystemID,
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uint8_t desiredComponentID) const;
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/// extract the MAVLink packet for output from the list of filtered messages
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/**
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* @param[in] filteredMsgs Vector where the filtered messages are stored
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* @param[in] msg C++ structure to fill
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* @param[in] isNew determine if the message is New
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*/
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void extractOutputPacket(std::vector<mavlink_message_t> const& filteredMsgs,
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mavlink_message_t& msg,
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bool& isNew) const;
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};
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} // namespace uavlib
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