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mavlink_message_handler.cpp
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mavlink_message_handler.cpp
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#include "mavlink_message_handler.h"
#include "la-log.h"
#include <errno.h>
// void MAVLink_Message_Handler::send_message_to_telem_forwarder(mavlink_message_t &msg)
// {
// uint8_t sendbuf[512];
// uint16_t messageLen = mavlink_msg_to_send_buffer((uint8_t*)sendbuf,&msg);
// if (sendto(_fd_telem_forwarder, sendbuf, messageLen, 0, (struct sockaddr *)_sa_telemetry_forwarder, sizeof(struct sockaddr)) == -1) {
// la_log(LOG_INFO, "Failed sendto: %s", strerror(errno));
// }
// }
void MAVLink_Message_Handler::handle_message(uint64_t timestamp, mavlink_message_t &msg)
{
// ::fprintf(stderr, "msg.msgid=%u\n", msg.msgid);
switch(msg.msgid) {
case MAVLINK_MSG_ID_AHRS2: {
mavlink_ahrs2_t decoded;
mavlink_msg_ahrs2_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_ATTITUDE: {
mavlink_attitude_t decoded;
mavlink_msg_attitude_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_EKF_STATUS_REPORT: {
mavlink_ekf_status_report_t decoded;
mavlink_msg_ekf_status_report_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: {
mavlink_global_position_int_t decoded;
mavlink_msg_global_position_int_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_GPS_RAW_INT: {
mavlink_gps_raw_int_t decoded;
mavlink_msg_gps_raw_int_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_heartbeat_t decoded;
mavlink_msg_heartbeat_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_MOUNT_STATUS: {
mavlink_mount_status_t decoded;
mavlink_msg_mount_status_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: {
mavlink_nav_controller_output_t decoded;
mavlink_msg_nav_controller_output_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_PARAM_VALUE: {
mavlink_param_value_t decoded;
mavlink_msg_param_value_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_REMOTE_LOG_DATA_BLOCK: {
mavlink_remote_log_data_block_t decoded;
mavlink_msg_remote_log_data_block_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE: {
mavlink_scaled_pressure_t decoded;
mavlink_msg_scaled_pressure_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE2: {
mavlink_scaled_pressure2_t decoded;
mavlink_msg_scaled_pressure2_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: {
mavlink_servo_output_raw_t decoded;
mavlink_msg_servo_output_raw_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_STATUSTEXT: {
mavlink_statustext_t decoded;
mavlink_msg_statustext_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_SYS_STATUS: {
mavlink_sys_status_t decoded;
mavlink_msg_sys_status_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_SYSTEM_TIME: {
mavlink_system_time_t decoded;
mavlink_msg_system_time_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
case MAVLINK_MSG_ID_VFR_HUD: {
mavlink_vfr_hud_t decoded;
mavlink_msg_vfr_hud_decode(&msg, &decoded);
handle_decoded_message(timestamp, decoded);
break;
}
}
}