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Commit d4c5a5f2 authored by Lorenz Meier's avatar Lorenz Meier
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Updated to most recent MAVLink v1.0.8

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files/mavlink_generator/C/include_v0.9/checksum.h deleted 100644 → 0
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#ifdef __cplusplus
extern "C" {
#endif
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
/**
*
* CALCULATE THE CHECKSUM
*
*/
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
/**
* @brief Accumulate the X.25 CRC by adding one char at a time.
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new char to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
{
/*Accumulate one byte of data into the CRC*/
uint8_t tmp;
tmp = data ^ (uint8_t)(*crcAccum &0xff);
tmp ^= (tmp<<4);
*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
}
/**
* @brief Initiliaze the buffer for the X.25 CRC
*
* @param crcAccum the 16 bit X.25 CRC
*/
static inline void crc_init(uint16_t* crcAccum)
{
*crcAccum = X25_INIT_CRC;
}
/**
* @brief Calculates the X.25 checksum on a byte buffer
*
* @param pBuffer buffer containing the byte array to hash
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
{
uint16_t crcTmp;
crc_init(&crcTmp);
while (length--) {
crc_accumulate(*pBuffer++, &crcTmp);
}
return crcTmp;
}
/**
* @brief Accumulate the X.25 CRC by adding an array of bytes
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {
crc_accumulate(*p++, crcAccum);
}
}
#endif /* _CHECKSUM_H_ */
#ifdef __cplusplus
}
#endif
files/mavlink_generator/C/include_v0.9/mavlink_types.h deleted 100644 → 0
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files/mavlink_generator/C/include_v0.9/protocol.h deleted 100644 → 0
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files/mavlink_generator/C/include_v0.9/test/mavlink.h deleted 100644 → 0
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/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 85
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 0
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 0
#endif
#include "version.h"
#include "test.h"
#endif // MAVLINK_H
files/mavlink_generator/C/include_v0.9/test/test.h deleted 100644 → 0
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/** @file
* @brief MAVLink comm protocol generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_H
#define TEST_H
#ifdef __cplusplus
extern "C" {
#endif
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {91, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_TEST
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
// ENUM DEFINITIONS
// MESSAGE DEFINITIONS
#include "./mavlink_msg_test_types.h"
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_H
files/mavlink_generator/C/include_v0.9/test/testsuite.h deleted 100644 → 0
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/** @file
* @brief MAVLink comm protocol testsuite generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_TESTSUITE_H
#define TEST_TESTSUITE_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg);
static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_test(system_id, component_id, last_msg);
}
#endif
static void mavlink_test_test_types(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_test_types_t packet_in = {
'A',
"BCDEFGHIJ",
230,
17859,
963498192,
93372036854776941ULL,
211,
18639,
963498972,
93372036854777886LL,
304.0,
438.0,
{ 228, 229, 230 },
{ 20147, 20148, 20149 },
{ 963500688, 963500689, 963500690 },
{ 93372036854780469, 93372036854780470, 93372036854780471 },
{ 171, 172, 173 },
{ 22487, 22488, 22489 },
{ 963503028, 963503029, 963503030 },
{ 93372036854783304, 93372036854783305, 93372036854783306 },
{ 1018.0, 1019.0, 1020.0 },
{ 1208.0, 1209.0, 1210.0 },
};
mavlink_test_types_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.c = packet_in.c;
packet1.u8 = packet_in.u8;
packet1.u16 = packet_in.u16;
packet1.u32 = packet_in.u32;
packet1.u64 = packet_in.u64;
packet1.s8 = packet_in.s8;
packet1.s16 = packet_in.s16;
packet1.s32 = packet_in.s32;
packet1.s64 = packet_in.s64;
packet1.f = packet_in.f;
packet1.d = packet_in.d;
mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10);
mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_test_types_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_send(MAVLINK_COMM_1 , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
mavlink_msg_test_types_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_test_types(system_id, component_id, last_msg);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_TESTSUITE_H
files/mavlink_generator/C/include_v0.9/test/version.h deleted 100644 → 0
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/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Mar 1 15:11:54 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
#endif // MAVLINK_VERSION_H
files/mavlink_generator/C/include_v1.0/checksum.h deleted 100644 → 0
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#ifdef __cplusplus
extern "C" {
#endif
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
/**
*
* CALCULATE THE CHECKSUM
*
*/
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
/**
* @brief Accumulate the X.25 CRC by adding one char at a time.
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new char to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
{
/*Accumulate one byte of data into the CRC*/
uint8_t tmp;
tmp = data ^ (uint8_t)(*crcAccum &0xff);
tmp ^= (tmp<<4);
*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
}
/**
* @brief Initiliaze the buffer for the X.25 CRC
*
* @param crcAccum the 16 bit X.25 CRC
*/
static inline void crc_init(uint16_t* crcAccum)
{
*crcAccum = X25_INIT_CRC;
}
/**
* @brief Calculates the X.25 checksum on a byte buffer
*
* @param pBuffer buffer containing the byte array to hash
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
{
uint16_t crcTmp;
crc_init(&crcTmp);
while (length--) {
crc_accumulate(*pBuffer++, &crcTmp);
}
return crcTmp;
}
/**
* @brief Accumulate the X.25 CRC by adding an array of bytes
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {
crc_accumulate(*p++, crcAccum);
}
}
#endif /* _CHECKSUM_H_ */
#ifdef __cplusplus
}
#endif
files/mavlink_generator/C/include_v1.0/mavlink_protobuf_manager.hpp deleted 100644 → 0
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#ifndef MAVLINKPROTOBUFMANAGER_HPP
#define MAVLINKPROTOBUFMANAGER_HPP
#include <deque>
#include <google/protobuf/message.h>
#include <iostream>
#include <tr1/memory>
#include <checksum.h>
#include <common/mavlink.h>
#include <mavlink_types.h>
#include <pixhawk/pixhawk.pb.h>
namespace mavlink
{
class ProtobufManager
{
public:
ProtobufManager()
: mRegisteredTypeCount(0)
, mStreamID(0)
, mVerbose(false)
, kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
, kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
{
// register GLOverlay
{
std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
registerType(msg);
}
// register ObstacleList
{
std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
registerType(msg);
}
// register ObstacleMap
{
std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
registerType(msg);
}
// register Path
{
std::tr1::shared_ptr<px::Path> msg(new px::Path);
registerType(msg);
}
// register PointCloudXYZI
{
std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
registerType(msg);
}
// register PointCloudXYZRGB
{
std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
registerType(msg);
}
// register RGBDImage
{
std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
registerType(msg);
}
srand(time(NULL));
mStreamID = rand() + 1;
}
bool fragmentMessage(uint8_t system_id, uint8_t component_id,
uint8_t target_system, uint8_t target_component,
const google::protobuf::Message& protobuf_msg,
std::vector<mavlink_extended_message_t>& fragments) const
{
TypeMap::const_iterator it = mTypeMap.find(protobuf_msg.GetTypeName());
if (it == mTypeMap.end())
{
std::cout << "# WARNING: Protobuf message with type "
<< protobuf_msg.GetTypeName() << " is not registered."
<< std::endl;
return false;
}
uint8_t typecode = it->second;
std::string data = protobuf_msg.SerializeAsString();
int fragmentCount = (protobuf_msg.ByteSize() + kExtendedPayloadMaxSize - 1) / kExtendedPayloadMaxSize;
unsigned int offset = 0;
for (int i = 0; i < fragmentCount; ++i)
{
mavlink_extended_message_t fragment;
// write extended header data
uint8_t* payload = reinterpret_cast<uint8_t*>(fragment.base_msg.payload64);
unsigned int length = 0;
uint8_t flags = 0;
if (i < fragmentCount - 1)
{
length = kExtendedPayloadMaxSize;
flags |= 0x1;
}
else
{
length = protobuf_msg.ByteSize() - kExtendedPayloadMaxSize * (fragmentCount - 1);
}
memcpy(payload, &target_system, 1);
memcpy(payload + 1, &target_component, 1);
memcpy(payload + 2, &typecode, 1);
memcpy(payload + 3, &length, 4);
memcpy(payload + 7, &mStreamID, 2);
memcpy(payload + 9, &offset, 4);
memcpy(payload + 13, &flags, 1);
fragment.base_msg.msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
mavlink_finalize_message(&fragment.base_msg, system_id, component_id, kExtendedHeaderSize, 0);
// write extended payload data
fragment.extended_payload_len = length;
memcpy(fragment.extended_payload, &data[offset], length);
fragments.push_back(fragment);
offset += length;
}
if (mVerbose)
{
std::cerr << "# INFO: Split extended message with size "
<< protobuf_msg.ByteSize() << " into "
<< fragmentCount << " fragments." << std::endl;
}
return true;
}
bool cacheFragment(mavlink_extended_message_t& msg)
{
if (!validFragment(msg))
{
if (mVerbose)
{
std::cerr << "# WARNING: Message is not a valid fragment. "
<< "Dropping message..." << std::endl;
}
return false;
<