Message handler base class. More...

#include <mavlink_message_handler.hpp>

Inheritance diagram for Mavlink_message_handler:

Classes
struct	cmd_callback_t
	Command callback. More...
struct	cmd_function
	Prototype of function callback for mavlink commands. More...
struct	conf_t
	Structure used to hold parameters during initialisation. More...
struct	msg_callback_t
	Message callback. More...
struct	msg_function
	Prototype of function callback for mavlink messages. More...
Public Types
typedef enum MAV_COMPONENT	mav_component_t
	Enumeration of MAV components.
Public Member Functions
	Mavlink_message_handler (Mavlink_stream &mavlink_stream, const conf_t &config)
	Constructor.
template<typename T >
bool	add_msg_callback (uint8_t message_id, uint8_t sysid_filter, mav_component_t compid_filter, typename msg_function< T >::type_t function, T *module_struct)
	Registers a new callback for a message.
template<typename T >
bool	add_cmd_callback (uint16_t command_id, uint8_t sysid_filter, mav_component_t compid_filter, mav_component_t compid_target, typename cmd_function< T >::type_t function, T *module_struct)
	Registers a new callback for a command.
void	receive (Mavlink_stream::msg_received_t *rec)
	Main update function, handles the incoming message according to the registered message and command callbacks.
Static Public Member Functions
static conf_t	default_config (void)
	Default configuration.
static void	msg_default_dbg (mavlink_message_t *msg)
	Dummy message callback for debug purpose.
static void	cmd_default_dbg (mavlink_command_long_t *cmd)
	Dummy command callback for debug purpose.
Protected Member Functions
virtual uint32_t	msg_callback_max_count (void)=0
	Get maximum number of message callbacks.
virtual uint32_t	cmd_callback_max_count (void)=0
	Get maximum number of command callbacks.
virtual msg_callback_t *	msg_callback_list (void)=0
	Get list of message callbacks.
virtual cmd_callback_t *	cmd_callback_list (void)=0
	Get list of command callbacks.

Detailed Description

Message handler base class.

This class is abstract and does not contains the lists of handlers, use the child class Mavlink_message_handler_T

Member Typedef Documentation

typedef enum MAV_COMPONENT Mavlink_message_handler::mav_component_t

Enumeration of MAV components.

The enumeration MAV_COMPONENT is defined by MAVLink

Constructor & Destructor Documentation

Mavlink_message_handler::Mavlink_message_handler	(	Mavlink_stream &	mavlink_stream,
		const conf_t &	config
	)

Constructor.

Parameters:

config	Config parameters
mavlink_stream	mavlink stream

Member Function Documentation

template<typename T >

bool Mavlink_message_handler::add_cmd_callback	(	uint16_t	command_id,
		uint8_t	sysid_filter,
		mav_component_t	compid_filter,
		mav_component_t	compid_target,
		typename cmd_function< T >::type_t	function,
		T *	module_struct
	)

Registers a new callback for a command.

You should call mavlink_message_handler_sort_callback function after having added all callbacks, as it is used by mavlink_message_handler_receive to speed up matching

Parameters:

command_id	The function will be called only for commands with ID command_id
sysid_filter	The function will be called only for commands coming from MAVs with ID sysid_filter (0 for all)
compid_filter	The function will be called only for commands coming from component compid_filter (0 for all)
compid_target	The function will be called only if the commands targets the component compid_target of this system (0 for all)
function	Pointer to the function to be executed
module_struct	Pointer to module data structure to be given as argument to the function

Returns:: True if the command callback was correctly added, false otherwise

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template<typename T >

bool Mavlink_message_handler::add_msg_callback	(	uint8_t	message_id,
		uint8_t	sysid_filter,
		mav_component_t	compid_filter,
		typename msg_function< T >::type_t	function,
		T *	module_struct
	)

Registers a new callback for a message.

You should call mavlink_message_handler_sort_callback function after having added all callbacks, as it is used by mavlink_message_handler_receive to speed up matching

Parameters:

message_id	The function will be called only for messages with ID message_id
sysid_filter	The function will be called only for messages coming from MAVs with ID sysid_filter (0 for all)
compid_filter	The function will be called only for messages coming from component compid_filter (0 for all)
function	Pointer to the function to be executed
module_struct	Pointer to module data structure to be given as argument to the function

Returns:: True if the message callback was correctly added, false otherwise

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virtual cmd_callback_t* Mavlink_message_handler::cmd_callback_list ( void ) [protected, pure virtual]

Get list of command callbacks.

To be overriden by child class

Returns:: list

Implemented in Mavlink_message_handler_T< N, P >, and Mavlink_message_handler_T< N_MSG_CB, N_CMD_CB >.

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virtual uint32_t Mavlink_message_handler::cmd_callback_max_count ( void ) [protected, pure virtual]

Get maximum number of command callbacks.

To be overriden by child class

Returns:: Maximum number of command callbacks

Implemented in Mavlink_message_handler_T< N, P >, and Mavlink_message_handler_T< N_MSG_CB, N_CMD_CB >.

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void Mavlink_message_handler::cmd_default_dbg ( mavlink_command_long_t * cmd ) [static]

Dummy command callback for debug purpose.

Prints the fields of the incoming command to the debug console

Parameters:

cmd	Pointer to incoming command

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Mavlink_message_handler::conf_t Mavlink_message_handler::default_config ( void ) [inline, static]

Default configuration.

Returns:: Config

virtual msg_callback_t* Mavlink_message_handler::msg_callback_list ( void ) [protected, pure virtual]

Get list of message callbacks.

To be overriden by child class

Returns:: list

Implemented in Mavlink_message_handler_T< N, P >, and Mavlink_message_handler_T< N_MSG_CB, N_CMD_CB >.

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virtual uint32_t Mavlink_message_handler::msg_callback_max_count ( void ) [protected, pure virtual]

Get maximum number of message callbacks.

To be overriden by child class

Returns:: Maximum number of message callbacks

Implemented in Mavlink_message_handler_T< N, P >, and Mavlink_message_handler_T< N_MSG_CB, N_CMD_CB >.

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void Mavlink_message_handler::msg_default_dbg ( mavlink_message_t * msg ) [static]

Dummy message callback for debug purpose.

Prints the fields of the incoming message to the debug console

Parameters:

msg	Pointer to incoming message

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void Mavlink_message_handler::receive ( Mavlink_stream::msg_received_t * rec )

Main update function, handles the incoming message according to the registered message and command callbacks.

Parameters:

rec	Pointer to the MAVLink receive message structure

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The documentation for this class was generated from the following files:

/home/travis/build/lis-epfl/MAVRIC_Library/communication/mavlink_message_handler.hpp
/home/travis/build/lis-epfl/MAVRIC_Library/communication/mavlink_message_handler.cpp
/home/travis/build/lis-epfl/MAVRIC_Library/communication/mavlink_message_handler.hxx

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation