| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /**************************************************************************** | ||
| 2 | * | ||
| 3 | * Copyright (c) 2018 MAVlink Development Team. All rights reserved. | ||
| 4 | * Author: Hannes Diethelm, <hannes.diethelm@gmail.com> | ||
| 5 | * Trent Lukaczyk, <aerialhedgehog@gmail.com> | ||
| 6 | * Jaycee Lock, <jaycee.lock@gmail.com> | ||
| 7 | * Lorenz Meier, <lm@inf.ethz.ch> | ||
| 8 | * | ||
| 9 | * Redistribution and use in source and binary forms, with or without | ||
| 10 | * modification, are permitted provided that the following conditions | ||
| 11 | * are met: | ||
| 12 | * | ||
| 13 | * 1. Redistributions of source code must retain the above copyright | ||
| 14 | * notice, this list of conditions and the following disclaimer. | ||
| 15 | * 2. Redistributions in binary form must reproduce the above copyright | ||
| 16 | * notice, this list of conditions and the following disclaimer in | ||
| 17 | * the documentation and/or other materials provided with the | ||
| 18 | * distribution. | ||
| 19 | * 3. Neither the name PX4 nor the names of its contributors may be | ||
| 20 | * used to endorse or promote products derived from this software | ||
| 21 | * without specific prior written permission. | ||
| 22 | * | ||
| 23 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 24 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 25 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 26 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 27 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 28 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 29 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
| 30 | * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
| 31 | * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 32 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 33 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 34 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 35 | * | ||
| 36 | ****************************************************************************/ | ||
| 37 | |||
| 38 | /** | ||
| 39 | * @file generic_port.hpp | ||
| 40 | * | ||
| 41 | * @brief Generic interface definition | ||
| 42 | * | ||
| 43 | * Abstract port definition | ||
| 44 | * | ||
| 45 | * @author Hannes Diethelm, <hannes.diethelm@gmail.com> | ||
| 46 | * @author Trent Lukaczyk, <aerialhedgehog@gmail.com> | ||
| 47 | * @author Jaycee Lock, <jaycee.lock@gmail.com> | ||
| 48 | * @author Lorenz Meier, <lm@inf.ethz.ch> | ||
| 49 | * | ||
| 50 | */ | ||
| 51 | |||
| 52 | #pragma once | ||
| 53 | |||
| 54 | #if __linux__ || __APPLE__ | ||
| 55 | // ------------------------------------------------------------------------------ | ||
| 56 | // Includes | ||
| 57 | // ------------------------------------------------------------------------------ | ||
| 58 | |||
| 59 | #include <mavlink/common/mavlink.h> | ||
| 60 | // #include <common/mavlink.h> | ||
| 61 | |||
| 62 | // ------------------------------------------------------------------------------ | ||
| 63 | // Defines | ||
| 64 | // ------------------------------------------------------------------------------ | ||
| 65 | |||
| 66 | // ------------------------------------------------------------------------------ | ||
| 67 | // Prototypes | ||
| 68 | // ------------------------------------------------------------------------------ | ||
| 69 | |||
| 70 | // ---------------------------------------------------------------------------------- | ||
| 71 | // Generic Port Manager Class | ||
| 72 | // ---------------------------------------------------------------------------------- | ||
| 73 | |||
| 74 | /// @brief Generic Port Class (This is an abstract port definition to handle both serial and UDP ports) | ||
| 75 | class Generic_Port | ||
| 76 | { | ||
| 77 | public: | ||
| 78 | /// @brief Variable to de-initialize node if cable is pulled | ||
| 79 | bool cabelCheck = false; | ||
| 80 | /// @brief Default constructor | ||
| 81 | ✗ | Generic_Port() = default; | |
| 82 | /// @brief Destructor | ||
| 83 | ✗ | virtual ~Generic_Port() = default; | |
| 84 | /// @brief Copy constructor | ||
| 85 | Generic_Port(const Generic_Port&) = delete; | ||
| 86 | /// @brief Move constructor | ||
| 87 | Generic_Port(Generic_Port&&) = delete; | ||
| 88 | /// @brief Copy assignment operator | ||
| 89 | Generic_Port& operator=(const Generic_Port&) = delete; | ||
| 90 | /// @brief Move assignment operator | ||
| 91 | Generic_Port& operator=(Generic_Port&&) = delete; | ||
| 92 | |||
| 93 | /// @brief Read Mavlink message | ||
| 94 | /// @param[in] message Mavlink message to read | ||
| 95 | virtual int read_message(mavlink_message_t& message) = 0; | ||
| 96 | |||
| 97 | /// @brief Write Mavlink message | ||
| 98 | /// @param[in] message Mavlink message to write | ||
| 99 | virtual int write_message(const mavlink_message_t& message) = 0; | ||
| 100 | |||
| 101 | /// @brief Is running | ||
| 102 | virtual bool is_running() = 0; | ||
| 103 | |||
| 104 | /// @brief Start | ||
| 105 | virtual void start() = 0; | ||
| 106 | |||
| 107 | /// @brief Stop | ||
| 108 | virtual void stop() = 0; | ||
| 109 | }; | ||
| 110 | |||
| 111 | #endif | ||
| 112 |