mavlink_messages.h
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/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_messages.h
* MAVLink 1.0 message formatters definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_MESSAGES_H_
#define MAVLINK_MESSAGES_H_
#include "mavlink_stream.h"
#include <commander/px4_custom_mode.h>
class StreamListItem
{
public:
MavlinkStream *(*new_instance)(Mavlink *mavlink);
const char *name;
uint16_t id;
StreamListItem(MavlinkStream * (*inst)(Mavlink *mavlink), const char *_name, uint16_t _id) :
new_instance(inst),
name(_name),
id(_id) {}
const char *get_name() const { return name; }
uint16_t get_id() const { return id; }
};
template <class T>
static StreamListItem create_stream_list_item()
{
return StreamListItem(&T::new_instance, T::get_name_static(), T::get_id_static());
}
const char *get_stream_name(const uint16_t msg_id);
MavlinkStream *create_mavlink_stream(const char *stream_name, Mavlink *mavlink);
MavlinkStream *create_mavlink_stream(const uint16_t msg_id, Mavlink *mavlink);
union px4_custom_mode get_px4_custom_mode(uint8_t nav_state);
#endif /* MAVLINK_MESSAGES_H_ */