mavlink_message_handler.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 * 
 * 1. Redistributions of source code must retain the above copyright notice, 
 * this list of conditions and the following disclaimer.
 * 
 * 2. Redistributions in binary form must reproduce the above copyright notice, 
 * this list of conditions and the following disclaimer in the documentation 
 * and/or other materials provided with the distribution.
 * 
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
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 ******************************************************************************/

/*******************************************************************************
 * \file mavlink_message_handler.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief This module handles of all incoming MAVLink message by calling the 
 * appropriate functions
 *
 ******************************************************************************/


#ifndef MAVLINK_MESSAGE_HANDLING_H_
#define MAVLINK_MESSAGE_HANDLING_H_

#ifdef __cplusplus
extern "C" {
#endif

// #include "onboard_parameters.h"
#include "mavlink_stream.h"


#define MAV_SYS_ID_ALL 0
#define MAV_MSG_ENUM_END 255

typedef void* handling_module_struct_t;

typedef enum MAV_RESULT mav_result_t;

typedef void (*mavlink_msg_callback_function_t) (handling_module_struct_t, uint32_t sysid, mavlink_message_t*);


typedef mav_result_t (*mavlink_cmd_callback_function_t) (handling_module_struct_t, mavlink_command_long_t*);


typedef enum MAV_COMPONENT mav_component_t;


typedef struct
{
    const uint32_t*                     sys_id;                     
    uint8_t                         message_id;                     
    uint8_t                         sysid_filter;                   
    mav_component_t                 compid_filter;                  
    mavlink_msg_callback_function_t function;                       
    handling_module_struct_t        module_struct;                  
} mavlink_message_handler_msg_callback_t;


typedef struct
{
    uint16_t                        command_id;                     
    uint8_t                         sysid_filter;                   
    mav_component_t                 compid_filter;                  
    mav_component_t                 compid_target;                  
    mavlink_cmd_callback_function_t function;                       
    handling_module_struct_t        module_struct;                  
} mavlink_message_handler_cmd_callback_t;


typedef struct
{
    uint32_t callback_count;                                        
    uint32_t max_callback_count;                                    
    mavlink_message_handler_msg_callback_t callback_list[];         
} mavlink_message_handler_msg_callback_set_t;


typedef struct
{
    uint32_t callback_count;                                        
    uint32_t max_callback_count;                                    
    mavlink_message_handler_cmd_callback_t callback_list[];         
} mavlink_message_handler_cmd_callback_set_t;


typedef struct
{
    mavlink_message_handler_msg_callback_set_t* msg_callback_set;   
    mavlink_message_handler_cmd_callback_set_t* cmd_callback_set;   
    bool debug;                                                     
    const mavlink_stream_t* mavlink_stream;
} mavlink_message_handler_t;


typedef struct
{
    uint32_t max_msg_callback_count;                                
    uint32_t max_cmd_callback_count;                                
    bool debug;                                                     
} mavlink_message_handler_conf_t;


bool mavlink_message_handler_init(  mavlink_message_handler_t*          message_handler, 
                                    const mavlink_message_handler_conf_t*   config,
                                    const mavlink_stream_t* mavlink_stream);


bool mavlink_message_handler_add_msg_callback(  mavlink_message_handler_t*                  message_handler, 
                                                mavlink_message_handler_msg_callback_t*     msg_callback);


bool mavlink_message_handler_add_cmd_callback(  mavlink_message_handler_t*                  message_handler, 
                                                mavlink_message_handler_cmd_callback_t*     cmd_callback);


void mavlink_message_handler_msg_default_dbg(mavlink_message_t* msg);


void mavlink_message_handler_cmd_default_dbg(mavlink_command_long_t* cmd);


void mavlink_message_handler_receive(mavlink_message_handler_t* message_handler, mavlink_received_t* rec);


#ifdef __cplusplus
}
#endif

#endif /* MAVLINK_MESSAGE_HANDLING_H */