#include <Packet.hpp>

Inheritance diagram for Packet:

Collaboration diagram for Packet:

Public Types
enum	Version { V1 = 0x0100, V2 = 0x0200 }

Public Member Functions
	Packet (const Packet &other)=default

	Packet (Packet &&other)=default

	Packet (std::vector< uint8_t > data)

virtual	~Packet ()

virtual Version	version () const =0

virtual unsigned long	id () const =0

virtual std::string	name () const =0

virtual MAVAddress	source () const =0

virtual std::optional< MAVAddress >	dest () const =0

void	connection (std::weak_ptr< Connection > connection)

const std::shared_ptr< Connection >	connection () const

const std::vector< uint8_t > &	data () const

Packet &	operator= (const Packet &other)=default

Packet &	operator= (Packet &&other)=default

Related Functions
(Note that these are not member functions.)
bool	operator== (const Packet &lhs, const Packet &rhs)

bool	operator!= (const Packet &lhs, const Packet &rhs)

std::ostream &	operator<< (std::ostream &os, const Packet &packet)

Detailed Description

A MAVLink packet.

This is an abstract class, it is meant to be overridden by classes implementing either version 1 or version 2 of the MAVLink packet wire protocol.

Definition at line 44 of file Packet.hpp.

Member Enumeration Documentation

◆ Version

enum Packet::Version

Enumerator
V1	MAVLink Version 1.0.
V2	MAVLink Version 2.0.

Definition at line 47 of file Packet.hpp.

Constructor & Destructor Documentation

◆ Packet() [1/3]

Packet::Packet ( const Packet & other )

default

Copy constructor.

Parameters

other Packet to copy from.

◆ Packet() [2/3]

Packet::Packet ( Packet && other )

default

Move constructor.

Parameters

other Packet to move from.

◆ Packet() [3/3]

Packet::Packet ( std::vector< uint8_t > data )

Construct a packet.

Parameters

data	Raw packet data.

Definition at line 33 of file Packet.cpp.

◆ ~Packet()

Packet::~Packet ( )

virtual

Definition at line 42 of file Packet.cpp.

Member Function Documentation

◆ connection() [1/2]

void Packet::connection ( std::weak_ptr< Connection > connection )

Set the source connection of the packet.

Parameters

connection The source connection.

See also: connection()

Definition at line 63 of file Packet.cpp.

References connection().

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◆ connection() [2/2]

const std::shared_ptr< Connection > Packet::connection ( ) const

Get the source connection of the packet.

Returns: The source connection if set and it still exists, otherwise nullptr.

See also: connection(std::weak_ptr<Connection>)

Definition at line 75 of file Packet.cpp.

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◆ data()

const std::vector< uint8_t > & Packet::data ( ) const

Return the packet data.

Returns: The packet data as a vector of bytes.

Definition at line 52 of file Packet.cpp.

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◆ dest()

virtual std::optional<MAVAddress> Packet::dest ( ) const

pure virtual

Return destination address.

Where the packet is sent to. This is optional because not all packets have a destination. If a system is specified, but not a component, a component ID of 0 will be used (the broadcast ID).

Returns: The destination MAVLink address of the packet if not a broadcast packet. If the packet does not have a destination address then {} will be returned.

Implemented in packet_v2::Packet, and packet_v1::Packet.

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◆ id()

virtual unsigned long Packet::id ( ) const

pure virtual

Return MAVLink message ID.

Returns: The numeric message ID of the MAVLink packet (0 to 255).

Implemented in packet_v2::Packet, and packet_v1::Packet.

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◆ name()

virtual std::string Packet::name ( ) const

pure virtual

Return MAVLink message name.

Returns: The message name of the MAVLink packet.

Implemented in packet_v2::Packet, and packet_v1::Packet.

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◆ operator=() [1/2]

Packet& Packet::operator= ( const Packet & other )

default

Assignment operator.

Parameters

other Packet to copy from.

◆ operator=() [2/2]

Packet& Packet::operator= ( Packet && other )

default

Assignment operator (by move semantics).

Parameters

other Packet to move from.

◆ source()

virtual MAVAddress Packet::source ( ) const

pure virtual

Return source address.

Where the packet came from.

Returns: The source MAVLink address of the packet.

Implemented in packet_v2::Packet, and packet_v1::Packet.

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◆ version()

virtual Version Packet::version ( ) const

pure virtual

Return packet version.

Returns: Two byte Packet version with major version in MSB and minor version in LSB.

Implemented in packet_v2::Packet, and packet_v1::Packet.

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Friends And Related Function Documentation

◆ operator!=()

bool operator!=	(	const Packet &	lhs,
		const Packet &	rhs
	)

Compares the raw packet data.

Parameters

lhs	The left hand side packet.
rhs	The right hand side packet.

Return values

true	if `lhs` and `rhs` do not have the same packet data.
false	if `lhs` and `rhs` have the same packet data.

Definition at line 107 of file Packet.cpp.

References data().

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◆ operator<<()

std::ostream & operator<<	(	std::ostream &	os,
		const Packet &	packet
	)

The format is "<Message Name> (#<Message ID>) from <Source Address> to <Destination Address> (v<Packet Version>)". However, "to <Destination Address>" is optional and will not be printed if the destination is the broadcast address 0.0.

Some examples are:

HEARTBEAT (#1) from 16.8 (v1.0)
PING (#4) from 128.4 to 16.8 (v2.0)
DATA_TRANSMISSION_HANDSHAKE (#130) from 16.8 (v2.0)
ENCAPSULATED_DATA (#131) from 128.4 (v2.0)

Parameters

os	The output stream to print to.
packet	The MAVLink packet to print.

Returns: The output stream.

Definition at line 131 of file Packet.cpp.

References dest(), id(), name(), source(), and version().

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◆ operator==()

bool operator==	(	const Packet &	lhs,
		const Packet &	rhs
	)

Compares the raw packet data.

Parameters

lhs	The left hand side packet.
rhs	The right hand side packet.

Return values

true	if `lhs` and `rhs` have the same packet data.
false	if `lhs` and `rhs` do not have the same packet data.

Definition at line 91 of file Packet.cpp.

References data().

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

Public Types

Public Member Functions

Related Functions

Detailed Description

Member Enumeration Documentation

◆ Version

Constructor & Destructor Documentation

◆ Packet() [1/3]

◆ Packet() [2/3]

◆ Packet() [3/3]

◆ ~Packet()

Member Function Documentation

◆ connection() [1/2]

◆ connection() [2/2]

◆ data()

◆ dest()

◆ id()

◆ name()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ source()

◆ version()

Friends And Related Function Documentation

◆ operator!=()

◆ operator<<()

◆ operator==()