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

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 * All rights reserved.
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 * may be used to endorse or promote products derived from this software without
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/*******************************************************************************
 * \file mavlink_message_handler.hpp
 *
 * \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_HPP_
#define MAVLINK_MESSAGE_HANDLING_HPP_

#include "communication/mavlink_stream.hpp"

#include "util/print_util.hpp"

#define MAV_SYS_ID_ALL 0
#define MAV_MSG_ENUM_END 255


typedef enum MAV_RESULT mav_result_t;


class Mavlink_message_handler
{
public:

    template<typename T>
    struct msg_function
    {
        typedef void (*type_t)(T*, uint32_t sysid, const mavlink_message_t*);
    };


    template<typename T>
    struct cmd_function
    {
        typedef mav_result_t (*type_t)(T*, const mavlink_command_long_t*);
    };


    typedef enum MAV_COMPONENT mav_component_t;


    struct conf_t
    {
        bool debug;                                                     
    };

    static inline conf_t default_config(void);


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

    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);

    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);

    void receive(Mavlink_stream::msg_received_t* rec);

    static void msg_default_dbg(mavlink_message_t* msg);

    static void cmd_default_dbg(mavlink_command_long_t* cmd);

protected:

    struct msg_callback_t
    {
        uint8_t                     message_id;                     
        uint8_t                     sysid_filter;                   
        mav_component_t             compid_filter;                  
        msg_function<void>::type_t  function;                       
        void*                       module_struct;                  
    };


    struct cmd_callback_t
    {
        uint16_t                    command_id;                     
        uint8_t                     sysid_filter;                   
        mav_component_t             compid_filter;                  
        mav_component_t             compid_target;                  
        cmd_function<void>::type_t  function;                       
        void*                       module_struct;                  
    };


    virtual uint32_t msg_callback_max_count(void) = 0;


    virtual uint32_t cmd_callback_max_count(void) = 0;


    virtual msg_callback_t* msg_callback_list(void) = 0;


    virtual cmd_callback_t* cmd_callback_list(void) = 0;


private:
    Mavlink_stream& mavlink_stream_;        
    bool debug_;                            
    uint32_t msg_callback_count_;           
    uint32_t cmd_callback_count_;           


    void sort_latest_msg_callback();

    void sort_latest_cmd_callback();

    bool match_msg(msg_callback_t* msg_callback, mavlink_message_t* msg);

    bool match_cmd(cmd_callback_t* cmd_callback, mavlink_message_t* msg, mavlink_command_long_t* cmd);

};


template<uint32_t N, uint32_t P>
class Mavlink_message_handler_T: public Mavlink_message_handler
{
public:

    Mavlink_message_handler_T(Mavlink_stream& mavlink_stream, const conf_t& config):
        Mavlink_message_handler(mavlink_stream, config)
    {}


protected:

    uint32_t msg_callback_max_count(void)
    {
        return N;
    }


    uint32_t cmd_callback_max_count(void)
    {
        return P;
    }


    msg_callback_t* msg_callback_list(void)
    {
        return msg_callback_list_;
    }


    cmd_callback_t* cmd_callback_list(void)
    {
        return cmd_callback_list_;
    }


private:

    uint32_t msg_callback_count_max_;           
    uint32_t cmd_callback_count_max_;           
    msg_callback_t msg_callback_list_[N];       
    cmd_callback_t cmd_callback_list_[P];       
};


Mavlink_message_handler::conf_t Mavlink_message_handler::default_config(void)
{
    conf_t conf = {};
    conf.debug  = false;
    return conf;
}

#include "mavlink_message_handler.hxx"

#endif /* MAVLINK_MESSAGE_HANDLING_H */