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

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/*******************************************************************************
 * \file mavlink_stream.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief A wrapper for MAVLink to use the stream interface
 *
 ******************************************************************************/


#ifndef MAVLINK_STREAM_HPP_
#define MAVLINK_STREAM_HPP_

#include <cstdint>
#include <cstdbool>
#include "hal/common/serial.hpp"

extern "C"
{
#include "hal/common/mavric_endian.h"
}

#ifdef __MAVRIC_ENDIAN_BIG__
#define NATIVE_BIG_ENDIAN
#endif

extern "C"
{
#include "libs/mavlink/include/mavric/mavlink.h"
}

#define MAVLINK_BASE_STATION_ID 255

class Mavlink_stream
{
public:

    typedef struct
    {
        mavlink_message_t msg;          
        mavlink_status_t status;        
    } msg_received_t;

    struct conf_t
    {
        uint32_t sysid;                 
        uint32_t compid;                
        bool     debug;                 
    };

    static conf_t default_config(void);

    Mavlink_stream(Serial& serial, const conf_t& config = default_config());


    bool send(mavlink_message_t* msg) const;

    bool receive(msg_received_t* rec);

    void flush();

    inline uint32_t sysid() const {return sysid_;};    // inline for higher exec speed

    inline uint32_t compid() const {return compid_;};    // inline for higher exec speed

    uint32_t sysid_;             

private:

    uint32_t compid_;            
    Serial& serial_;
    uint8_t mavlink_channel_;    
    bool debug_;                  
};

#endif /* MAVLINK_STREAM_H */