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62 lines
1.3 KiB
C++
62 lines
1.3 KiB
C++
#ifndef MAVLINK_READER_H
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#define MAVLINK_READER_H
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#include <stdint.h>
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#include <netinet/in.h>
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#include "INIReader.h"
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#include "util.h"
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#include "mavlink_message_handler.h"
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#include "format_reader.h"
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/* A mavlink packet should be limited to 6+255+2 = 263 bytes
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6 byte header, 255 max bytes in payload, 2 byte crc */
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#define TELEM_PKT_MAX 512
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class MAVLink_Reader : public Format_Reader
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{
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public:
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MAVLink_Reader(INIReader *config)
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: Format_Reader(config), err_skipped(0), err_time_us(0), /* last time we logged */
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err_interval_us(1000000), /* once per second max */
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_is_tlog(false)
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{
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}
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uint32_t feed(const uint8_t *buf, const uint32_t len) override;
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void set_is_tlog(bool value)
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{
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_is_tlog = value;
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}
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bool is_tlog()
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{
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return _is_tlog;
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}
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protected:
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void end_of_log() override;
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private:
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int can_log_error();
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void handle_message_received(uint64_t timestamp, mavlink_message_t msg);
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uint16_t err_skipped;
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uint64_t err_time_us;
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uint64_t err_interval_us;
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uint32_t packet_count = 0;
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uint8_t timestamp_offset = 0;
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bool done_timestamp = false;
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uint64_t timestamp = 0;
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mavlink_message_t mav_msg;
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mavlink_status_t mav_status;
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bool _is_tlog;
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};
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#endif
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