MavLinkCom/src/MavLinkConnection.cpp - master - vasandi/AirSim

MavLinkCom/src/MavLinkConnection.cpp
145 строк4 KB
Андрей Васильченко
сборка под ubuntu 26.04
08 июл 2026, 10:15
08 июл 2026, 10:15d53c5a2
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.

#include "MavLinkConnection.hpp"
#include "impl/MavLinkConnectionImpl.hpp"

using namespace mavlinkcom;
using namespace mavlinkcom_impl;

MavLinkConnection::MavLinkConnection()
{
    pImpl.reset(new MavLinkConnectionImpl());
}

std::shared_ptr<MavLinkConnection> MavLinkConnection::connectSerial(const std::string& nodeName, const std::string& portName, int baudrate, const std::string& initString)
{
    return MavLinkConnectionImpl::connectSerial(nodeName, portName, baudrate, initString);
}

std::shared_ptr<MavLinkConnection> MavLinkConnection::connectLocalUdp(const std::string& nodeName, const std::string& localAddr, int localPort)
{
    return MavLinkConnectionImpl::connectLocalUdp(nodeName, localAddr, localPort);
}

std::shared_ptr<MavLinkConnection> MavLinkConnection::connectRemoteUdp(const std::string& nodeName, const std::string& localAddr, const std::string& remoteAddr, int remotePort)
{
    return MavLinkConnectionImpl::connectRemoteUdp(nodeName, localAddr, remoteAddr, remotePort);
}

std::shared_ptr<MavLinkConnection> MavLinkConnection::connectTcp(const std::string& nodeName, const std::string& localAddr, const std::string& remoteIpAddr, int remotePort)
{
    return MavLinkConnectionImpl::connectTcp(nodeName, localAddr, remoteIpAddr, remotePort);
}

std::string MavLinkConnection::acceptTcp(const std::string& nodeName, const std::string& localAddr, int listeningPort)
{
    return pImpl->acceptTcp(shared_from_this(), nodeName, localAddr, listeningPort);
}

void MavLinkConnection::startListening(const std::string& nodeName, std::shared_ptr<Port> connectedPort)
{
    pImpl->startListening(shared_from_this(), nodeName, connectedPort);
}

// log every message that is "sent" using sendMessage.
void MavLinkConnection::startLoggingSendMessage(std::shared_ptr<MavLinkLog> log)
{
    pImpl->startLoggingSendMessage(log);
}

void MavLinkConnection::stopLoggingSendMessage()
{
    pImpl->stopLoggingSendMessage();
}

// log every message that is "received"
void MavLinkConnection::startLoggingReceiveMessage(std::shared_ptr<MavLinkLog> log)
{
    pImpl->startLoggingReceiveMessage(log);
}

void MavLinkConnection::stopLoggingReceiveMessage()
{
    pImpl->stopLoggingReceiveMessage();
}

void MavLinkConnection::close()
{
    pImpl->close();
}

bool MavLinkConnection::isOpen()
{
    return pImpl->isOpen();
}

void MavLinkConnection::ignoreMessage(uint8_t message_id)
{
    pImpl->ignoreMessage(message_id);
}
int MavLinkConnection::prepareForSending(MavLinkMessage& msg)
{
    return pImpl->prepareForSending(msg);
}

std::string MavLinkConnection::getName()
{
    return pImpl->getName();
}
int MavLinkConnection::getTargetComponentId()
{
    return pImpl->getTargetComponentId();
}
int MavLinkConnection::getTargetSystemId()
{
    return pImpl->getTargetSystemId();
}

uint8_t MavLinkConnection::getNextSequence()
{
    return pImpl->getNextSequence();
}
void MavLinkConnection::sendMessage(const MavLinkMessageBase& msg)
{
    pImpl->sendMessage(msg);
}
void MavLinkConnection::sendMessage(const MavLinkMessage& msg)
{
    pImpl->sendMessage(msg);
}

int MavLinkConnection::subscribe(MessageHandler handler)
{
    return pImpl->subscribe(handler);
}

void MavLinkConnection::unsubscribe(int id)
{
    pImpl->unsubscribe(id);
}

bool MavLinkConnection::isPublishThread() const
{
    return pImpl->isPublishThread();
}

MavLinkConnection::~MavLinkConnection()
{
    pImpl->close();
    pImpl = nullptr;
}
void MavLinkConnection::join(std::shared_ptr<MavLinkConnection> remote, bool subscribeToLeft, bool subscribeToRight)
{
    pImpl->join(remote, subscribeToLeft, subscribeToRight);
}

// get the next telemetry snapshot, then clear the internal counters and start over.  This way each snapshot
// gives you a picture of what happened in whatever timeslice you decide to call this method.
void MavLinkConnection::getTelemetry(MavLinkTelemetry& result)
{
    pImpl->getTelemetry(result);
}

//MavLinkConnection::MavLinkConnection(MavLinkConnection&&) = default;
//MavLinkConnection& MavLinkConnection::operator=(MavLinkConnection&&) = default;