#include <PacketVersion1.hpp>

Inheritance diagram for packet_v1::Packet:

Collaboration diagram for packet_v1::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::Version	version () const

virtual unsigned long	id () const

virtual std::string	name () const

virtual MAVAddress	source () const

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

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

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

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

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

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

Related Functions
(Note that these are not member functions.)
bool	header_complete (const std::vector< uint8_t > &data)

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

const struct mavlink::v1_header *	header (const std::vector< uint8_t > &data)

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 with the version 1 wire protocol.

Definition at line 56 of file PacketVersion1.hpp.

Member Enumeration Documentation

◆ Version

enum Packet::Version

inherited

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_v1::Packet::Packet ( const Packet & other )

default

Copy constructor.

Parameters

other Packet to copy from.

◆ Packet() [2/3]

packet_v1::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.

Exceptions

std::invalid_argument	if packet data does not start with the magic byte (0xFE).
std::length_error	if packet data is either too short or too long.

Definition at line 41 of file PacketVersion1.cpp.

References packet_v1::CHECKSUM_LENGTH, Packet::data(), header(), header_complete(), packet_v1::HEADER_LENGTH, mavlink::v1_header::len, mavlink::v1_header::msgid, packet_complete(), and packet_v1::START_BYTE.

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Member Function Documentation

◆ connection() [1/2]

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

inherited

Set the source connection of the packet.

Parameters

connection The source connection.

See also: connection()

Definition at line 63 of file Packet.cpp.

References Packet::connection().

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◆ connection() [2/2]

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

inherited

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

inherited

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()

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

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.

Thanks: : The mavlink-router project for an example of how to extract the destination address.

Implements Packet.

Definition at line 146 of file PacketVersion1.cpp.

References Packet::data(), and header().

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◆ id()

unsigned long Packet::id ( ) const

virtual

Return MAVLink message ID.

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

Implements Packet.

Definition at line 108 of file PacketVersion1.cpp.

References Packet::data(), header(), and mavlink::v1_header::msgid.

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◆ name()

std::string Packet::name ( ) const

virtual

Return MAVLink message name.

Returns: The message name of the MAVLink packet.

Exceptions

std::runtime_error if the packet data has an invalid ID.

Implements Packet.

Definition at line 118 of file PacketVersion1.cpp.

References Packet::data(), and header().

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◆ operator=() [1/2]

Packet& packet_v1::Packet::operator= ( const Packet & other )

default

Assignment operator.

Parameters

other Packet to copy from.

◆ operator=() [2/2]

Packet& packet_v1::Packet::operator= ( Packet && other )

default

Assignment operator (by move semantics).

Parameters

other Packet to move from.

◆ source()

MAVAddress Packet::source ( ) const

virtual

Return source address.

Where the packet came from.

Returns: The source MAVLink address of the packet.

Implements Packet.

Definition at line 135 of file PacketVersion1.cpp.

References Packet::data(), and header().

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◆ version()

Packet::Version Packet::version ( ) const

virtual

Return packet version.

Returns: Two byte Packet version with major version in MSB and minor version in LSB.; 0x0100 (v1.0) - Packet::V1

Implements Packet.

Definition at line 102 of file PacketVersion1.cpp.

References packet_v1::VERSION.

Friends And Related Function Documentation

◆ header()

const struct mavlink::v1_header * header ( const std::vector< uint8_t > & data )

Parameters

data	The packet data.

Returns: A pointer to the given data, cast to a v1.0 header structure. If an incomplete header is given a nullptr will be returned.

Definition at line 238 of file PacketVersion1.cpp.

References packet_v1::header_complete().

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◆ header_complete()

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

Parameters

data	The packet data.

Return values

true	if `data` contains a complete header (starting with the magic byte).
false	if `data` does not contain a complete v1.0 header.

Definition at line 200 of file PacketVersion1.cpp.

References packet_v1::HEADER_LENGTH, and packet_v1::START_BYTE.

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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` 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 Packet::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 Packet::dest(), Packet::id(), Packet::name(), Packet::source(), and Packet::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 Packet::data().

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◆ packet_complete()

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

Parameters

data	The packet data.

Return values

true	if `data` contains a complete packet (starting with the magic byte).
false	if `data` does not contain a complete v1.0 packet, or if there is extra bytes in `data` beyond the packet.

Definition at line 218 of file PacketVersion1.cpp.

References packet_v1::CHECKSUM_LENGTH, packet_v1::header(), packet_v1::header_complete(), packet_v1::HEADER_LENGTH, and mavlink::v1_header::len.

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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]

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

◆ header()

◆ header_complete()

◆ operator!=()

◆ operator<<()

◆ operator==()

◆ packet_complete()