Diff: mavlink_bridge.h

Revision:

0:28183cc7963f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mavlink_bridge.h	Tue Nov 24 16:41:11 2015 +0000
@@ -0,0 +1,47 @@
+#pragma once
+
+#include "uart_interface.h"
+
+#include "mavlink_bridge/mavlink/v10/uwb/mavlink.h"
+
+namespace ait {
+
+class MAVLinkBridge {
+    UART_Interface* _uart;
+    mavlink_system_t _mavlink_system;
+    // TODO: Is this int?
+    mavlink_channel_t _mavlink_channel;
+    mavlink_message_t _recv_msg;
+    mavlink_status_t _recv_status;
+    int _packet_drops;
+
+public:
+    MAVLinkBridge(UART_Interface* uart, mavlink_channel_t mavlink_channel = MAVLINK_COMM_0, uint8_t sysid = 1, uint8_t compid = MAV_COMP_ID_UART_BRIDGE);
+
+    void setSysId(uint8_t sysid) {
+        _mavlink_system.sysid = sysid;
+    }
+
+    uint8_t getSysId() const {
+        return _mavlink_system.sysid;
+    }
+
+    void setCompId(uint8_t compid) {
+        _mavlink_system.compid = compid;
+    }
+
+    uint8_t getCompId() const {
+        return _mavlink_system.compid;
+    }
+
+    void sendMessage(const mavlink_message_t& msg);
+
+    bool tryReceiveMessage();
+
+    const mavlink_message_t& getLastReceivedMessage();
+
+protected:
+    void sendBuffer(const uint8_t* buf, uint16_t len);
+};
+
+}