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57 lines
1.6 KiB
57 lines
1.6 KiB
10 years ago
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file MAVLink_routing.h
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/// @brief handle routing of MAVLink packets by ID
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#ifndef __MAVLINK_ROUTING_H
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#define __MAVLINK_ROUTING_H
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#include <AP_HAL.h>
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#include <AP_Common.h>
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#include <GCS_MAVLink.h>
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// 5 routes should be enough for now. This will need to increase as we
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// make more extensive use of MAVLink forwarding
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#define MAVLINK_MAX_ROUTES 5
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/*
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object to handle MAVLink packet routing
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*/
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class MAVLink_routing
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{
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public:
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MAVLink_routing(void);
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/*
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forward a MAVLink message to the right port. This also
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automatically learns the route for the sender if it is not
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already known.
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This returns true if the message matched a route and was
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forwarded.
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*/
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bool check_and_forward(mavlink_channel_t in_channel, const mavlink_message_t* msg);
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private:
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// a simple linear routing table. We don't expect to have a lot of
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// routes, so a scalable structure isn't worthwhile yet.
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uint8_t num_routes;
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struct route {
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uint8_t sysid;
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uint8_t compid;
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mavlink_channel_t channel;
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} routes[MAVLINK_MAX_ROUTES];
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// learn new routes
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void learn_route(mavlink_channel_t in_channel, const mavlink_message_t* msg);
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// extract target sysid and compid from a message
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void get_targets(const mavlink_message_t* msg, int16_t &sysid, int16_t &compid);
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// special handling for heartbeat messages
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void handle_heartbeat(mavlink_channel_t in_channel, const mavlink_message_t* msg);
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};
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#endif // __MAVLINK_ROUTING_H
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