text stringlengths 7 35.3M | id stringlengths 11 185 | metadata dict | __index_level_0__ int64 0 2.14k |
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// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#ifndef msr_airlib_PhysXCarController_hpp
#define msr_airlib_PhysXCarController_hpp
#include "vehicles/car/api/CarApiBase.hpp"
namespace msr
{
namespace airlib
{
class PhysXCarApi : public CarApiBase
{
public:
PhysXCarApi(const AirSimSettings::VehicleSetting* vehicle_setting, std::shared_ptr<SensorFactory> sensor_factory,
const Kinematics::State& state, const Environment& environment)
: CarApiBase(vehicle_setting, sensor_factory, state, environment), home_geopoint_(environment.getHomeGeoPoint())
{
}
~PhysXCarApi()
{
}
protected:
virtual void resetImplementation() override
{
CarApiBase::resetImplementation();
}
public:
virtual void update() override
{
CarApiBase::update();
}
virtual const SensorCollection& getSensors() const override
{
return CarApiBase::getSensors();
}
// VehicleApiBase Implementation
virtual void enableApiControl(bool is_enabled) override
{
if (api_control_enabled_ != is_enabled) {
last_controls_ = CarControls();
api_control_enabled_ = is_enabled;
}
}
virtual bool isApiControlEnabled() const override
{
return api_control_enabled_;
}
virtual GeoPoint getHomeGeoPoint() const override
{
return home_geopoint_;
}
virtual bool armDisarm(bool arm) override
{
//TODO: implement arming for car
unused(arm);
return true;
}
public:
virtual void setCarControls(const CarControls& controls) override
{
last_controls_ = controls;
}
virtual void updateCarState(const CarState& car_state) override
{
last_car_state_ = car_state;
}
virtual const CarState& getCarState() const override
{
return last_car_state_;
}
virtual const CarControls& getCarControls() const override
{
return last_controls_;
}
private:
bool api_control_enabled_ = false;
GeoPoint home_geopoint_;
CarControls last_controls_;
CarState last_car_state_;
};
}
}
#endif
| AirSim/AirLib/include/vehicles/car/firmwares/physxcar/PhysXCarApi.hpp/0 | {
"file_path": "AirSim/AirLib/include/vehicles/car/firmwares/physxcar/PhysXCarApi.hpp",
"repo_id": "AirSim",
"token_count": 1147
} | 13 |
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#ifndef msr_airlib_vehicles_Px4MultiRotor_hpp
#define msr_airlib_vehicles_Px4MultiRotor_hpp
#include "vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp"
#include "common/AirSimSettings.hpp"
#include "sensors/SensorFactory.hpp"
#include "vehicles/multirotor/MultiRotorParams.hpp"
namespace msr
{
namespace airlib
{
class Px4MultiRotorParams : public MultiRotorParams
{
public:
Px4MultiRotorParams(const AirSimSettings::MavLinkVehicleSetting& vehicle_setting, std::shared_ptr<const SensorFactory> sensor_factory)
: sensor_factory_(sensor_factory)
{
connection_info_ = getConnectionInfo(vehicle_setting);
}
virtual ~Px4MultiRotorParams() = default;
virtual std::unique_ptr<MultirotorApiBase> createMultirotorApi() override
{
unique_ptr<MultirotorApiBase> api(new MavLinkMultirotorApi());
auto api_ptr = static_cast<MavLinkMultirotorApi*>(api.get());
api_ptr->initialize(connection_info_, &getSensors(), true);
return api;
}
virtual void setupParams() override
{
auto& params = getParams();
if (connection_info_.model == "Blacksheep") {
setupFrameBlacksheep(params);
}
else if (connection_info_.model == "Flamewheel") {
setupFrameFlamewheel(params);
}
else if (connection_info_.model == "FlamewheelFLA") {
setupFrameFlamewheelFLA(params);
}
else if (connection_info_.model == "Hexacopter") {
setupFrameGenericHex(params);
}
else if (connection_info_.model == "Octocopter") {
setupFrameGenericOcto(params);
}
else //Generic
setupFrameGenericQuad(params);
}
protected:
virtual const SensorFactory* getSensorFactory() const override
{
return sensor_factory_.get();
}
private:
static const AirSimSettings::MavLinkConnectionInfo& getConnectionInfo(const AirSimSettings::MavLinkVehicleSetting& vehicle_setting)
{
return vehicle_setting.connection_info;
}
private:
AirSimSettings::MavLinkConnectionInfo connection_info_;
std::shared_ptr<const SensorFactory> sensor_factory_;
};
}
} //namespace
#endif
| AirSim/AirLib/include/vehicles/multirotor/firmwares/mavlink/Px4MultiRotorParams.hpp/0 | {
"file_path": "AirSim/AirLib/include/vehicles/multirotor/firmwares/mavlink/Px4MultiRotorParams.hpp",
"repo_id": "AirSim",
"token_count": 1136
} | 14 |
#pragma once
#include "interfaces/CommonStructs.hpp"
#include "interfaces/IBoardClock.hpp"
#include "interfaces/IAxisController.hpp"
#include "common/common_utils//Utils.hpp"
#include "Params.hpp"
#include <memory>
namespace simple_flight
{
class PassthroughController : public IAxisController
{
public:
virtual void initialize(unsigned int axis, const IGoal* goal, const IStateEstimator* state_estimator) override
{
axis_ = axis;
goal_ = goal;
unused(state_estimator);
}
virtual void reset() override
{
IAxisController::reset();
output_ = TReal();
}
virtual void update() override
{
IAxisController::update();
output_ = goal_->getGoalValue()[axis_];
}
virtual TReal getOutput() override
{
return output_;
}
private:
unsigned int axis_;
const IGoal* goal_;
TReal output_;
};
} //namespace | AirSim/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/PassthroughController.hpp/0 | {
"file_path": "AirSim/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/PassthroughController.hpp",
"repo_id": "AirSim",
"token_count": 371
} | 15 |
#pragma once
#include "IUpdatable.hpp"
#include "IOffboardApi.hpp"
#include "IStateEstimator.hpp"
namespace simple_flight
{
class IFirmware : public IUpdatable
{
public:
virtual IOffboardApi& offboardApi() = 0;
};
} //namespace | AirSim/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IFirmware.hpp/0 | {
"file_path": "AirSim/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IFirmware.hpp",
"repo_id": "AirSim",
"token_count": 97
} | 16 |
robocopy /MIR ..\MavLinkCom\SDK\Includes deps\MavLinkCom\include /XD temp *. /njh /njs /ndl /np
robocopy /MIR ..\MavLinkCom\SDK\Libraries deps\MavLinkCom\lib /XD temp *. /njh /njs /ndl /np
pause | AirSim/AirLib/update_mavlibkcom.bat/0 | {
"file_path": "AirSim/AirLib/update_mavlibkcom.bat",
"repo_id": "AirSim",
"token_count": 92
} | 17 |
# Contributing
This page has moved [here](https://github.com/microsoft/AirSim/blob/main/docs/CONTRIBUTING.md). | AirSim/CONTRIBUTING.md/0 | {
"file_path": "AirSim/CONTRIBUTING.md",
"repo_id": "AirSim",
"token_count": 38
} | 18 |
/*
Copyright (C) 2017 Milo Yip. All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of pngout nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*! \file
\brief svpng() is a minimalistic C function for saving RGB/RGBA image into uncompressed PNG.
\author Milo Yip
\version 0.1.1
\copyright MIT license
\sa http://github.com/miloyip/svpng
*/
//Modified by Matthias Mueller
//Added support for 8-bit gray-scale (16-bit - ToDo)
#ifndef SVPNG_INC_
#define SVPNG_INC_
/*! \def SVPNG_LINKAGE
\brief User customizable linkage for svpng() function.
By default this macro is empty.
User may define this macro as static for static linkage,
and/or inline in C99/C++, etc.
*/
#ifndef SVPNG_LINKAGE
#define SVPNG_LINKAGE
#endif
/*! \def SVPNG_OUTPUT
\brief User customizable output stream.
By default, it uses C file descriptor and fputc() to output bytes.
In C++, for example, user may use std::ostream or std::vector instead.
*/
#ifndef SVPNG_OUTPUT
#include <stdio.h>
#define SVPNG_OUTPUT FILE* fp
#endif
/*! \def SVPNG_PUT
\brief Write a byte
*/
#ifndef SVPNG_PUT
#define SVPNG_PUT(u) fputc(u, fp)
#endif
/*!
\brief Save a RGB/RGBA image in PNG format.
\param SVPNG_OUTPUT Output stream (by default using file descriptor).
\param w Width of the image. (<16383)
\param h Height of the image.
\param img Image pixel data in 24-bit RGB or 32-bit RGBA format.
\param alpha Whether the image contains alpha channel.
*/
SVPNG_LINKAGE void svpng(SVPNG_OUTPUT, unsigned w, unsigned h, const unsigned char* img, int alpha, int gray = 0)
{
static const unsigned t[] = { 0, 0x1db71064, 0x3b6e20c8, 0x26d930ac, 0x76dc4190, 0x6b6b51f4, 0x4db26158, 0x5005713c,
/* CRC32 Table */ 0xedb88320,
0xf00f9344,
0xd6d6a3e8,
0xcb61b38c,
0x9b64c2b0,
0x86d3d2d4,
0xa00ae278,
0xbdbdf21c };
unsigned a = 1, b = 0, c, x, y, i; /* ADLER-a, ADLER-b, CRC, pitch */
unsigned p = w + 1;
if (!gray) p += w * (alpha ? 3 : 2);
#define SVPNG_U8A(ua, l) \
for (i = 0; i < l; i++) \
SVPNG_PUT((ua)[i]);
#define SVPNG_U32(u) \
do { \
SVPNG_PUT((u) >> 24); \
SVPNG_PUT(((u) >> 16) & 255); \
SVPNG_PUT(((u) >> 8) & 255); \
SVPNG_PUT((u)&255); \
} while (0)
#define SVPNG_U8C(u) \
do { \
SVPNG_PUT(u); \
c ^= (u); \
c = (c >> 4) ^ t[c & 15]; \
c = (c >> 4) ^ t[c & 15]; \
} while (0)
#define SVPNG_U8AC(ua, l) \
for (i = 0; i < l; i++) \
SVPNG_U8C((ua)[i])
#define SVPNG_U16LC(u) \
do { \
SVPNG_U8C((u)&255); \
SVPNG_U8C(((u) >> 8) & 255); \
} while (0)
#define SVPNG_U16C(u) \
do { \
SVPNG_U8C(((u) >> 8) & 255); \
SVPNG_U8C((u)&255); \
} while (0)
#define SVPNG_U32C(u) \
do { \
SVPNG_U8C((u) >> 24); \
SVPNG_U8C(((u) >> 16) & 255); \
SVPNG_U8C(((u) >> 8) & 255); \
SVPNG_U8C((u)&255); \
} while (0)
#define SVPNG_U8ADLER(u) \
do { \
SVPNG_U8C(u); \
a = (a + (u)) % 65521; \
b = (b + a) % 65521; \
} while (0)
#define SVPNG_U16ADLER(u) \
do { \
SVPNG_U16C(u); \
a = (a + (u)) % 65521; \
b = (b + a) % 65521; \
} while (0)
#define SVPNG_BEGIN(s, l) \
do { \
SVPNG_U32(l); \
c = ~0U; \
SVPNG_U8AC(s, 4); \
} while (0)
#define SVPNG_END() SVPNG_U32(~c)
SVPNG_U8A("\x89PNG\r\n\32\n", 8); /* Magic */
SVPNG_BEGIN("IHDR", 13); /* IHDR chunk { */
SVPNG_U32C(w);
SVPNG_U32C(h); /* Width & Height (8 bytes) */
SVPNG_U8C(8); /* Depth=8 (1 byte) */
if (gray)
SVPNG_U8C(0);
else
SVPNG_U8C(alpha ? 6 : 2); /* Color=Gray or True color with/without alpha (1 byte) */
SVPNG_U8AC("\0\0\0", 3); /* Compression=Deflate, Filter=No, Interlace=No (3 bytes) */
SVPNG_END(); /* } */
SVPNG_BEGIN("IDAT", 2 + h * (5 + p) + 4); /* IDAT chunk { */
SVPNG_U8AC("\x78\1", 2); /* Deflate block begin (2 bytes) */
for (y = 0; y < h; y++) { /* Each horizontal line makes a block for simplicity */
SVPNG_U8C(y == h - 1); /* 1 for the last block, 0 for others (1 byte) */
SVPNG_U16LC(p);
SVPNG_U16LC(~p); /* Size of block in little endian and its 1's complement (4 bytes) */
SVPNG_U8ADLER(0); /* No filter prefix (1 byte) */
for (x = 0; x < p - 1; x++, img++)
SVPNG_U8ADLER(*img); /* Image pixel data */
}
SVPNG_U32C((b << 16) | a); /* Deflate block end with adler (4 bytes) */
SVPNG_END(); /* } */
SVPNG_BEGIN("IEND", 0);
SVPNG_END(); /* IEND chunk {} */
}
#endif /* SVPNG_INC_ */ | AirSim/Examples/DataCollection/writePNG.h/0 | {
"file_path": "AirSim/Examples/DataCollection/writePNG.h",
"repo_id": "AirSim",
"token_count": 3361
} | 19 |
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#include "common/common_utils/StrictMode.hpp"
STRICT_MODE_OFF
#ifndef RPCLIB_MSGPACK
#define RPCLIB_MSGPACK clmdep_msgpack
#endif // !RPCLIB_MSGPACK
#include "rpc/rpc_error.h"
STRICT_MODE_ON
#include "vehicles/car/api/CarRpcLibClient.hpp"
#include "common/common_utils/FileSystem.hpp"
#include <iostream>
int main()
{
using namespace msr::airlib;
std::cout << "Make sure settings.json has \"SimMode\"=\"Car\" at root. Press Enter to continue." << std::endl;
std::cin.get();
// This assumes you are running DroneServer already on the same machine.
// DroneServer must be running first.
msr::airlib::CarRpcLibClient client;
typedef ImageCaptureBase::ImageRequest ImageRequest;
typedef ImageCaptureBase::ImageResponse ImageResponse;
typedef ImageCaptureBase::ImageType ImageType;
typedef common_utils::FileSystem FileSystem;
try {
client.confirmConnection();
std::cout << "Press Enter to get FPV image" << std::endl;
std::cin.get();
const std::vector<ImageRequest> request{ ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanar, true) };
const std::vector<ImageResponse>& response = client.simGetImages(request);
std::cout << "# of images received: " << response.size() << std::endl;
if (!response.size()) {
std::cout << "Enter path with ending separator to save images (leave empty for no save)" << std::endl;
std::string path;
std::getline(std::cin, path);
for (const ImageResponse& image_info : response) {
std::cout << "Image uint8 size: " << image_info.image_data_uint8.size() << std::endl;
std::cout << "Image float size: " << image_info.image_data_float.size() << std::endl;
if (path != "") {
std::string file_path = FileSystem::combine(path, std::to_string(image_info.time_stamp));
if (image_info.pixels_as_float) {
Utils::writePFMfile(image_info.image_data_float.data(), image_info.width, image_info.height, file_path + ".pfm");
}
else {
std::ofstream file(file_path + ".png", std::ios::binary);
file.write(reinterpret_cast<const char*>(image_info.image_data_uint8.data()), image_info.image_data_uint8.size());
file.close();
}
}
}
}
//enable API control
client.enableApiControl(true);
CarApiBase::CarControls controls;
std::cout << "Press enter to drive forward" << std::endl;
std::cin.get();
controls.throttle = 0.5f;
controls.steering = 0.0f;
client.setCarControls(controls);
std::cout << "Press Enter to activate handbrake" << std::endl;
std::cin.get();
controls.handbrake = true;
client.setCarControls(controls);
std::cout << "Press Enter to take turn and drive backward" << std::endl;
std::cin.get();
controls.handbrake = false;
controls.throttle = -0.5;
controls.steering = 1;
controls.is_manual_gear = true;
controls.manual_gear = -1;
client.setCarControls(controls);
std::cout << "Press Enter to stop" << std::endl;
std::cin.get();
client.setCarControls(CarApiBase::CarControls());
}
catch (rpc::rpc_error& e) {
const auto msg = e.get_error().as<std::string>();
std::cout << "Exception raised by the API, something went wrong." << std::endl
<< msg << std::endl;
std::cin.get();
}
return 0;
}
| AirSim/HelloCar/main.cpp/0 | {
"file_path": "AirSim/HelloCar/main.cpp",
"repo_id": "AirSim",
"token_count": 1667
} | 20 |
<UserControl x:Class="LogViewer.Controls.ChannelSelector"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:local="clr-namespace:LogViewer.Controls"
mc:Ignorable="d"
BorderBrush="white" BorderThickness="1"
d:DesignHeight="300" d:DesignWidth="300">
<UserControl.Resources>
<DataTemplate x:Key="NetworkItemTemplate">
<StackPanel Orientation="Vertical">
<TextBlock Text="{Binding Name}" FontSize="12" FontWeight="Bold" TextWrapping="Wrap"/>
<TextBlock Text="{Binding Description}" FontSize="10" TextWrapping="Wrap"/>
</StackPanel>
</DataTemplate>
</UserControl.Resources>
<Grid Background="{StaticResource ControlBackgroundBrush}">
<TabControl x:Name="Tabs" SelectionChanged="OnTabSelectionChanged" >
<TabItem Width="36" IsHitTestVisible="False"/>
<TabItem Header="Serial" x:Name="SerialTab">
<Grid>
<Grid.RowDefinitions>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="*"/>
<RowDefinition Height="Auto"/>
</Grid.RowDefinitions>
<Grid>
<Grid.ColumnDefinitions>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="*"/>
</Grid.ColumnDefinitions>
<Label Margin="3" >Baud rate:</Label>
<TextBox x:Name="BaudRate" Grid.Column="1" Margin="3" Text="115200" VerticalAlignment="Center" Padding="0,2" TextChanged="OnBaudRateChanged"/>
</Grid>
<Label Margin="3" Grid.Row="1">Select port:</Label>
<ListBox x:Name="SerialPorts" Grid.Row="2" Margin="10">
</ListBox>
<Button x:Name="SerialConnectButton" Grid.Row="3" HorizontalAlignment="Left" MinWidth="80" MinHeight="30" Margin="10,0,10,10" Click="OnSerialConnect">Connect</Button>
</Grid>
</TabItem>
<TabItem Header="Socket" x:Name="SocketTab">
<Grid>
<Grid.RowDefinitions>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="*"/>
<RowDefinition Height="Auto"/>
</Grid.RowDefinitions>
<Grid>
<Grid.ColumnDefinitions>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="*"/>
</Grid.ColumnDefinitions>
<Label Margin="3" >Port number:</Label>
<TextBox x:Name="PortNumber" Grid.Column="1" Margin="3" Text="14550" VerticalAlignment="Center" Padding="0,2" TextChanged="OnPortNumberChanged"/>
</Grid>
<Label Margin="3" Grid.Row="1">Local network adapters:</Label>
<ListBox x:Name="NetworkList" Grid.Row="2" Margin="10" ItemTemplate="{StaticResource NetworkItemTemplate}"
SelectionChanged="OnNetworkSelectionChanged">
</ListBox>
<Button x:Name="UdpConnectButton" Grid.Row="3" HorizontalAlignment="Left" MinWidth="80" MinHeight="30" Margin="10,0,10,10" Click="OnUdpConnect">Connect</Button>
</Grid>
</TabItem>
<TabItem Header="Logs" x:Name="LogTab">
<Grid>
<Grid.ColumnDefinitions>
<ColumnDefinition Width="35*"/>
<ColumnDefinition Width="6*"/>
<ColumnDefinition Width="104*"/>
</Grid.ColumnDefinitions>
<Grid.RowDefinitions>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="*"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
</Grid.RowDefinitions>
<Label Margin="3" Grid.Row="1" Grid.ColumnSpan="3">Select log to download:</Label>
<ListBox x:Name="LogFiles" Grid.Row="2" Margin="10" SelectionChanged="OnLogFileSelected" Grid.ColumnSpan="3"/>
<ProgressBar x:Name="DownloadProgress" Height="6" Grid.Row="3" Margin="10,0,10,10" Visibility="Collapsed" Grid.ColumnSpan="3"/>
<Grid Grid.Row="4" Grid.ColumnSpan="3" >
<Grid.ColumnDefinitions>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="*"/>
</Grid.ColumnDefinitions>
<Button x:Name="DownloadButton" MinWidth="80" MinHeight="30" Margin="10,0,10,10" Click="OnDownloadClick">Download</Button>
<TextBlock x:Name="DownloadStatus" Grid.Column="1" Text="" Foreground="#C0C0FF" VerticalAlignment="Center"/>
</Grid>
</Grid>
</TabItem>
</TabControl>
<Button Style="{StaticResource BackButtonStyle}" VerticalAlignment="Top" HorizontalAlignment="Left" Click="OnCloseClicked" ></Button>
</Grid>
</UserControl>
| AirSim/LogViewer/LogViewer/Controls/ChannelSelector.xaml/0 | {
"file_path": "AirSim/LogViewer/LogViewer/Controls/ChannelSelector.xaml",
"repo_id": "AirSim",
"token_count": 3021
} | 21 |
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace LogViewer.Controls
{
class ScrollViewerModel
{
public double VerticalPosition { get; set; }
public double HorizontalPosition { get; set; }
}
}
| AirSim/LogViewer/LogViewer/Controls/ScrollViewerModel.cs/0 | {
"file_path": "AirSim/LogViewer/LogViewer/Controls/ScrollViewerModel.cs",
"repo_id": "AirSim",
"token_count": 109
} | 22 |
using LogViewer.Utilities;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;
using System.Reflection;
using Microsoft.Networking.Mavlink;
using LogViewer.Controls;
using System.Collections;
using System.Threading;
namespace LogViewer.Model
{
class MavlinkLog : IDataLog
{
string file;
ulong startTicks = 0;
DateTime startTime;
TimeSpan duration;
List<Message> data = new List<Message>();
LogItemSchema schema = new LogItemSchema() { Name = "MavlinkLog", Type = "Root" };
Dictionary<Type, LogItemSchema> schemaCache = new Dictionary<Type, LogItemSchema>();
Dictionary<string, MAVLink.mavlink_param_value_t> parameters = new Dictionary<string, MAVLink.mavlink_param_value_t>();
internal class Message
{
public MavLinkMessage Msg;
public ulong Ticks;
public DateTime Timestamp;
public object TypedValue;
}
public MavlinkLog()
{
}
public LogItemSchema Schema
{
get { return this.schema; }
}
public DateTime StartTime
{
get { return startTime; }
}
public TimeSpan Duration
{
get { return duration; }
}
public ulong StartTicks { get; private set; }
public IEnumerable<DataValue> GetDataValues(LogItemSchema schema, DateTime startTime, TimeSpan duration)
{
if (schema != null)
{
bool first = true;
ulong startTicks = 0;
ulong previousTicks = 0;
foreach (var msg in GetMessages(startTime, duration))
{
if (first)
{
startTicks = previousTicks = msg.Ticks;
first = false;
}
previousTicks = msg.Ticks;
DataValue value = GetDataValue(schema, msg, startTicks);
if (value != null)
{
yield return value;
}
}
}
}
internal DataValue GetDataValue(LogItemSchema schema, Message msg, ulong startTicks)
{
// we support 3 levels of nesting, so schema could be the row, the column or an array item.
LogItemSchema rowSchema = schema;
LogItemSchema columnSchema = schema;
LogItemSchema arraySchema = schema;
if (rowSchema.Parent != this.schema)
{
rowSchema = rowSchema.Parent;
}
if (rowSchema.Parent != this.schema)
{
columnSchema = rowSchema;
rowSchema = rowSchema.Parent;
}
StringBuilder textBuilder = new StringBuilder();
var row = msg.TypedValue;
if (row != null && row.GetType().Name == rowSchema.Type)
{
// get a time value for this message.
FieldInfo fi = row.GetType().GetField(columnSchema.Name, BindingFlags.Public | BindingFlags.Instance);
if (fi != null)
{
object value = fi.GetValue(row);
double x = (double)(msg.Ticks - startTicks);
DataValue data = new DataValue() { X = x, UserData = msg }; // microseconds.
// byte array is special (we treat this like text).
if (value is byte[])
{
textBuilder.Length = 0;
byte[] text = (byte[])value;
bool binary = false;
// see if this is binary or text.
for (int i = 0, n = text.Length; i < n; i++)
{
byte b = text[i];
if (b != 0 && b < 0x20 || b > 0x80)
{
binary = true;
}
}
for (int i = 0, n = text.Length; i < n; i++)
{
byte b = text[i];
if (b != 0)
{
if (binary)
{
textBuilder.Append(b.ToString("x2"));
textBuilder.Append(" ");
}
else
{
char ch = Convert.ToChar(b);
textBuilder.Append(ch);
}
}
}
data.Label = textBuilder.ToString();
}
else if (value is string)
{
data.Label = (string)value;
}
else
{
if (fi.FieldType.IsArray)
{
// then we are expecting an array selector as well...
Array a = (Array)value;
int index = 0;
int.TryParse(arraySchema.Name, out index);
if (a.Length > index)
{
value = a.GetValue(index);
}
}
data.Y = ConvertToNumeric(value);
data.Label = GetLabel(row, columnSchema.Name);
};
return data;
}
}
return null;
}
private string GetLabel(object row, string fieldName)
{
if (row is MAVLink.mavlink_heartbeat_t)
{
MAVLink.mavlink_heartbeat_t heartbeat = (MAVLink.mavlink_heartbeat_t)row;
if (fieldName == "base_mode")
{
return GetModeFlags(heartbeat.base_mode);
}
else if (fieldName == "system_status")
{
return GetSystemStateName(heartbeat.system_status);
}
else if (fieldName == "custom_mode")
{
return GetCustomModeFlags(heartbeat.custom_mode);
}
}
else if (row is MAVLink.mavlink_extended_sys_state_t)
{
MAVLink.mavlink_extended_sys_state_t state = (MAVLink.mavlink_extended_sys_state_t)row;
if (fieldName == "landed_state")
{
return GetLandedStateName(state.landed_state);
}
else if (fieldName == "vtol_state")
{
return GetVTolStateName(state.vtol_state);
}
}
return null;
}
public IEnumerable<DataValue> LiveQuery(LogItemSchema schema, CancellationToken token)
{
return new MavlinkQuery(this, schema, token);
}
internal void AddQuery(MavlinkQueryEnumerator q)
{
lock (queryEnumerators)
{
queryEnumerators.Add(q);
}
}
internal void RemoveQuery(MavlinkQueryEnumerator q)
{
lock (queryEnumerators)
{
queryEnumerators.Remove(q);
}
}
/// <summary>
/// This implements a nice little reactive stream over the DataValues.
/// </summary>
internal class MavlinkQuery : IEnumerable<DataValue>
{
private MavlinkLog log;
private LogItemSchema schema;
private CancellationToken token;
internal MavlinkQuery(MavlinkLog log, LogItemSchema schema, CancellationToken token)
{
this.log = log;
this.schema = schema;
this.token = token;
}
public IEnumerator<DataValue> GetEnumerator()
{
return new MavlinkQueryEnumerator(this.log, this.schema, this.token);
}
IEnumerator IEnumerable.GetEnumerator()
{
return new MavlinkQueryEnumerator(this.log, this.schema, this.token);
}
}
internal class MavlinkQueryEnumerator : IEnumerator<DataValue>
{
private MavlinkLog log;
private LogItemSchema schema;
private DataValue current;
private DataValue next;
private CancellationToken token;
private bool disposed;
private bool waiting;
private ulong startTicks;
private System.Threading.Semaphore available = new System.Threading.Semaphore(0, 1);
internal MavlinkQueryEnumerator(MavlinkLog log, LogItemSchema schema, CancellationToken token)
{
this.log = log;
this.schema = schema;
this.token = token;
this.startTicks = log.StartTicks;
this.log.AddQuery(this);
}
internal void Add(Message msg)
{
DataValue d = this.log.GetDataValue(schema, msg, startTicks);
if (d != null)
{
next = d;
if (waiting)
{
available.Release();
}
}
}
public DataValue Current
{
get { return current; }
}
object IEnumerator.Current
{
get { return current; }
}
public void Dispose()
{
disposed = true;
this.log.RemoveQuery(this);
}
public bool MoveNext()
{
if (disposed || token.IsCancellationRequested)
{
return false;
}
if (next == null)
{
waiting = true;
WaitHandle.WaitAny(new[] { available, token.WaitHandle });
waiting = false;
}
current = next;
return true;
}
public void Reset()
{
// this is a forward only infinite stream.
throw new NotSupportedException();
}
}
IEnumerable<Message> GetMessages(DateTime startTime, TimeSpan duration)
{
bool allValues = (startTime == DateTime.MinValue && duration == TimeSpan.MaxValue);
DateTime endTime = allValues ? DateTime.MaxValue : startTime + duration;
lock (data)
{
foreach (Message message in data)
{
var timestamp = message.Timestamp;
bool include = allValues;
if (!include)
{
include = (timestamp >= startTime && timestamp <= endTime);
}
if (include)
{
yield return message;
}
}
}
}
public IEnumerable<LogEntry> GetRows(string typeName, DateTime startTime, TimeSpan duration)
{
foreach (var msg in GetMessages(startTime, duration))
{
object typedValue = msg.TypedValue;
if (typedValue != null)
{
if (typeName == "GPS" )
{
// do auto-conversion from MAVLink.mavlink_global_position_int_t
if (typedValue is MAVLink.mavlink_global_position_int_t)
{
MAVLink.mavlink_global_position_int_t gps = (MAVLink.mavlink_global_position_int_t)typedValue;
LogEntry e = new LogEntry();
e.SetField("GPSTime", (ulong)gps.time_boot_ms * 1000); // must be in microseconds.
e.SetField("Lat", (double)gps.lat / 1E7);
e.SetField("Lon", (double)gps.lon / 1E7);
e.SetField("Alt", (float)((double)gps.alt / 1000));
e.SetField("nSat", 9); // fake values so the map works
e.SetField("EPH", 1);
yield return e;
}
}
}
}
}
List<MavlinkQueryEnumerator> queryEnumerators = new List<MavlinkQueryEnumerator>();
internal Message AddMessage(MavLinkMessage e)
{
if (this.data == null)
{
this.data = new List<Message>();
}
DateTime time = epoch.AddMilliseconds((double)e.Time / (double)1000);
Message msg = new Model.MavlinkLog.Message()
{
Msg = e,
Timestamp = time,
Ticks = e.Time
};
if (e.TypedPayload == null) {
Type msgType = MavLinkMessage.GetMavlinkType((uint)e.MsgId);
if (msgType != null)
{
byte[] msgBuf = new byte[256];
GCHandle handle = GCHandle.Alloc(msgBuf, GCHandleType.Pinned);
IntPtr ptr = handle.AddrOfPinnedObject();
// convert to proper mavlink structure.
msg.TypedValue = Marshal.PtrToStructure(ptr, msgType);
handle.Free();
}
}
else
{
msg.TypedValue = e.TypedPayload;
}
lock (data)
{
this.data.Add(msg);
if (msg.TypedValue is MAVLink.mavlink_param_value_t)
{
MAVLink.mavlink_param_value_t param = (MAVLink.mavlink_param_value_t)msg.TypedValue;
string name = ConvertToString(param.param_id);
parameters[name] = param;
Debug.WriteLine("{0}={1}", name, param.param_value);
}
}
if (msg.TypedValue != null)
{
CreateSchema(msg.TypedValue);
}
lock (queryEnumerators)
{
foreach (var q in queryEnumerators)
{
q.Add(msg);
}
}
return msg;
}
public DateTime GetTime(ulong timeMs)
{
return startTime.AddMilliseconds(timeMs);
}
private double ConvertToNumeric(object value)
{
if (value == null) return 0;
if (value is Array)
{
Array a = (Array)value;
if (a.Length > 0)
{
// todo: need a way for user to retrieve specific indexes from this array...
object x = a.GetValue(0);
return Convert.ToDouble(x);
}
return 0;
}
return Convert.ToDouble(value);
}
private string ConvertToString(byte[] a)
{
StringBuilder sb = new StringBuilder();
for (int i = 0, n = a.Length; i < n; i++)
{
byte b = a[i];
if (b >= 0x20)
{
sb.Append(Convert.ToChar(b));
}
}
return sb.ToString();
}
public IEnumerable<string> GetStatusMessages()
{
// compute the min/max servo settings.
foreach (Message msg in this.data)
{
if (msg.TypedValue is MAVLink.mavlink_statustext_t)
{
mavlink_statustext_t2 status = new mavlink_statustext_t2((MAVLink.mavlink_statustext_t)msg.TypedValue);
if (!string.IsNullOrEmpty(status.text))
{
yield return status.text;
}
}
}
}
List<Flight> flights;
public IEnumerable<Flight> GetFlights()
{
if (flights == null)
{
flights = new List<Model.Flight>();
int min = int.MaxValue;
int max = int.MinValue;
// mavlink_servo_output_raw_t is an actual PWM signal, so it toggles between RC0_TRIM (usually 1500) and the
// values it is sending to the motor, so we have to weed out the trim values in order to see the actual
// values.
int trim = 1500; // should get this from the parameter values.
// compute the min/max servo settings.
foreach (var msg in this.data)
{
if (msg.TypedValue is MAVLink.mavlink_servo_output_raw_t)
{
MAVLink.mavlink_servo_output_raw_t servo = (MAVLink.mavlink_servo_output_raw_t)msg.TypedValue;
if (servo.servo1_raw != 0 && servo.servo1_raw != trim)
{
min = Math.Min(min, servo.servo1_raw);
max = Math.Max(max, servo.servo1_raw);
}
}
}
// find flights
DateTime start = this.startTime;
DateTime endTime = start;
Flight current = null;
int offCount = 0;
// compute the min/max servo settings.
foreach (var msg in this.data)
{
if (msg.TypedValue is MAVLink.mavlink_servo_output_raw_t)
{
MAVLink.mavlink_servo_output_raw_t servo = (MAVLink.mavlink_servo_output_raw_t)msg.TypedValue;
endTime = start.AddMilliseconds(servo.time_usec / 1000);
if (servo.servo1_raw != trim)
{
if (servo.servo1_raw > min)
{
if (current == null)
{
current = new Flight()
{
Log = this,
StartTime = start.AddMilliseconds(servo.time_usec / 1000)
};
flights.Add(current);
offCount = 0;
}
}
else if (servo.servo1_raw == min && offCount++ > 10)
{
if (current != null)
{
current.Duration = endTime - current.StartTime;
current = null;
}
}
}
}
}
if (current != null)
{
current.Duration = endTime - current.StartTime;
}
}
return flights;
}
static DateTime epoch = new DateTime(1970, 1, 1);
public async Task Load(string file, ProgressUtility progress)
{
this.file = file;
this.startTime = DateTime.MinValue;
this.duration = TimeSpan.Zero;
bool first = true;
// QT time is milliseconds from the following epoch.
const int BUFFER_SIZE = 8000;
byte[] msgBuf = new byte[BUFFER_SIZE];
GCHandle handle = GCHandle.Alloc(msgBuf, GCHandleType.Pinned);
IntPtr ptr = handle.AddrOfPinnedObject();
DateTime lastTime = DateTime.MinValue;
await Task.Run(() =>
{
long length = 0;
// MAVLINK_MSG_ID
using (Stream s = File.OpenRead(file))
{
length = s.Length;
BinaryReader reader = new BinaryReader(s);
while (s.Position < length)
{
progress.ShowProgress(0, length, s.Position);
try
{
MavLinkMessage header = new MavLinkMessage();
header.ReadHeader(reader);
Array.Clear(msgBuf, 0, BUFFER_SIZE);
int read = s.Read(msgBuf, 0, header.Length);
if (read == header.Length)
{
int id = (int)header.MsgId;
header.Crc = reader.ReadUInt16();
bool checkCrc = true;
if (id == MAVLink.mavlink_telemetry.MessageId)
{
if (header.Crc == 0) // telemetry has no crc.
{
checkCrc = false;
continue;
}
}
if (checkCrc && !header.IsValidCrc(msgBuf, read))
{
continue;
}
Type msgType = MavLinkMessage.GetMavlinkType((uint)header.MsgId);
if (msgType != null)
{
// convert to proper mavlink structure.
header.TypedPayload = Marshal.PtrToStructure(ptr, msgType);
}
Message message = AddMessage(header);
if (first)
{
startTime = message.Timestamp;
startTicks = message.Ticks;
first = false;
}
}
}
catch
{
// try and continue...
}
}
}
progress.ShowProgress(0, length, length);
handle.Free();
});
this.duration = lastTime - startTime;
}
private void CreateSchema(object message)
{
Type t = message.GetType();
if (schemaCache.ContainsKey(t))
{
return;
}
string name = t.Name;
if (name.StartsWith("mavlink_"))
{
name = name.Substring(8);
}
else if (name.StartsWith("mavlink"))
{
name = name.Substring(7);
}
LogItemSchema item = new LogItemSchema() { Name = name, Type = t.Name };
foreach (FieldInfo fi in t.GetFields(BindingFlags.Public | BindingFlags.Instance))
{
var field = new LogItemSchema() { Name = fi.Name, Type = fi.FieldType.Name };
item.AddChild(field);
object value = fi.GetValue(message);
// byte[] array is special, we return that as binhex encoded binary data.
if (fi.FieldType.IsArray && fi.FieldType != typeof(byte[]))
{
field.IsArray = true;
Type itemType = fi.FieldType.GetElementType();
Array a = (Array)value;
for (int i = 0, n = a.Length; i < n; i++)
{
field.AddChild(new LogItemSchema() { Name = i.ToString(), Type = itemType.Name });
}
}
}
schemaCache[t] = item;
schema.AddChild(item);
if (SchemaChanged != null)
{
SchemaChanged(this, EventArgs.Empty);
}
}
public event EventHandler SchemaChanged;
internal void Clear()
{
this.data = new List<Message>();
schema = new LogItemSchema() { Name = "MavlinkLog", Type = "Root" };
schemaCache = new Dictionary<Type, LogItemSchema>();
}
// text strings well known states
static string GetSystemStateName(int value)
{
if (value >= 0 && value < MavSystemStateNames.Length)
{
return MavSystemStateNames[value];
}
return null;
}
static string[] MavSystemStateNames = {
"MAV_STATE_UNINIT",
"MAV_STATE_BOOT",
"MAV_STATE_CALIBRATING",
"MAV_STATE_STANDBY",
"MAV_STATE_ACTIVE",
"MAV_STATE_CRITICAL",
"MAV_STATE_EMERGENCY",
"MAV_STATE_POWEROFF"
};
enum PX4_CUSTOM_MAIN_MODE
{
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_ALTCTL,
PX4_CUSTOM_MAIN_MODE_POSCTL,
PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_MAIN_MODE_ACRO,
PX4_CUSTOM_MAIN_MODE_OFFBOARD,
PX4_CUSTOM_MAIN_MODE_STABILIZED,
PX4_CUSTOM_MAIN_MODE_RATTITUDE,
LAST_VALUE
};
enum PX4_CUSTOM_SUB_MODE_AUTO
{
PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
PX4_CUSTOM_SUB_MODE_AUTO_RTGS,
PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET,
LAST_VALUE
};
// Enumeration of landed detector states
enum MAV_LANDED_STATE
{
// MAV landed state is unknown
MAV_LANDED_STATE_UNDEFINED = 0,
// MAV is landed (on ground)
MAV_LANDED_STATE_ON_GROUND = 1,
// MAV is in air
MAV_LANDED_STATE_IN_AIR = 2
};
static string[] MavLandedStateNames = {
"MAV_LANDED_STATE_UNDEFINED",
"MAV_LANDED_STATE_ON_GROUND",
"MAV_LANDED_STATE_IN_AIR"
};
static string GetLandedStateName(int value)
{
if (value >= 0 && value < MavLandedStateNames.Length)
{
return MavLandedStateNames[value];
}
return null;
}
// Enumeration of VTOL states
static string[] MavVTOLStateNames =
{
"MAV_VTOL_STATE_UNDEFINED",
"MAV_VTOL_STATE_TRANSITION_TO_FW",
"MAV_VTOL_STATE_TRANSITION_TO_MC",
"MAV_VTOL_STATE_MC",
"MAV_VTOL_STATE_FW"
};
static string GetVTolStateName(int value)
{
if (value >= 0 && value < MavVTOLStateNames.Length)
{
return MavVTOLStateNames[value];
}
return null;
}
struct FlagName
{
public int Flag;
public string Name;
};
static string GetCustomModeFlags(uint value)
{
uint custom = (value >> 16);
uint mode = (custom & 0xff);
uint submode = (custom >> 8);
StringBuilder sb = new StringBuilder();
if (mode >= 0 && mode <= (uint)PX4_CUSTOM_MAIN_MODE.LAST_VALUE)
{
PX4_CUSTOM_MAIN_MODE mm = (PX4_CUSTOM_MAIN_MODE)mode;
sb.AppendLine(mm.ToString());
}
if (mode >= 0 && mode <= (uint)PX4_CUSTOM_SUB_MODE_AUTO.LAST_VALUE)
{
PX4_CUSTOM_SUB_MODE_AUTO sm = (PX4_CUSTOM_SUB_MODE_AUTO)submode;
sb.AppendLine(sm.ToString());
}
return sb.ToString();
}
static string GetFlags(FlagName[] flags, uint value)
{
StringBuilder sb = new StringBuilder();
foreach (FlagName f in flags)
{
if ((value & f.Flag) != 0)
{
sb.AppendLine(f.Name);
}
}
return sb.ToString();
}
static string GetModeFlags(uint value)
{
return GetFlags(ModeFlagNames, value);
}
static FlagName[] ModeFlagNames = {
new FlagName() { Flag = (int)MAVLink.MAV_MODE_FLAG.TEST_ENABLED, Name = "MAV_MODE_FLAG_TEST_ENABLED" },
new FlagName() { Flag = (int)MAVLink.MAV_MODE_FLAG.AUTO_ENABLED, Name = "MAV_MODE_FLAG_AUTO_ENABLED" },
new FlagName() { Flag = (int)MAVLink.MAV_MODE_FLAG.GUIDED_ENABLED, Name = "MAV_MODE_FLAG_GUIDED_ENABLED" },
new FlagName() { Flag = (int)MAVLink.MAV_MODE_FLAG.STABILIZE_ENABLED, Name = "MAV_MODE_FLAG_STABILIZE_ENABLED" },
new FlagName() { Flag = (int)MAVLink.MAV_MODE_FLAG.HIL_ENABLED, Name = "MAV_MODE_FLAG_HIL_ENABLED" },
new FlagName() { Flag = (int)MAVLink.MAV_MODE_FLAG.MANUAL_INPUT_ENABLED, Name = "MAV_MODE_FLAG_MANUAL_INPUT_ENABLED" },
new FlagName() { Flag = (int)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED, Name = "MAV_MODE_FLAG_SAFETY_ARMED" }
};
}
}
| AirSim/LogViewer/LogViewer/Model/MavlinkLog.cs/0 | {
"file_path": "AirSim/LogViewer/LogViewer/Model/MavlinkLog.cs",
"repo_id": "AirSim",
"token_count": 18327
} | 23 |
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.IO;
using System.Runtime.InteropServices;
using uint8_t = System.Byte;
using System.Diagnostics;
using LogViewer.Utilities;
using LogViewer.Model;
namespace MissionPlanner.Log
{
public enum LogType { binFile, px4logFile };
/// <summary>
/// Convert a binary log to an ascii log
/// </summary>
public class PX4BinaryLog
{
private LogType logType;
private IntPtr _logFormatPtr;
private byte[] _logFormatBuffer;
public const byte HEAD_BYTE1 = 0xA3; // Decimal 163
public const byte HEAD_BYTE2 = 0x95; // Decimal 149
ulong currentTime;
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct log_Format
{
public uint8_t type;
public uint8_t length;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
public byte[] name;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
public byte[] format;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
public byte[] labels;
}
public ulong CurrentTime { get { return currentTime; } }
public bool GenerateParser { get; set; }
public PX4BinaryLog(LogType logType)
{
this.logType = logType;
}
~PX4BinaryLog()
{
if (_logFormatPtr != IntPtr.Zero)
{
Marshal.FreeCoTaskMem(_logFormatPtr);
_logFormatPtr = IntPtr.Zero;
}
}
void ConvertBinaryToText(string binaryFileName, string outputFileName)
{
using (var stream = File.Open(outputFileName, FileMode.Create))
{
using (StreamWriter writer = new StreamWriter(stream, Encoding.UTF8))
{
using (BinaryReader br = new BinaryReader(File.OpenRead(binaryFileName)))
{
while (br.BaseStream.Position < br.BaseStream.Length)
{
string line = ReadMessage(br.BaseStream);
writer.WriteLine(line);
}
}
}
}
}
public string ReadMessage(Stream br)
{
int log_step = 0;
long length = br.Length;
while (br.Position < length)
{
byte data = (byte)br.ReadByte();
switch (log_step)
{
case 0:
if (data == HEAD_BYTE1)
{
log_step++;
}
break;
case 1:
if (data == HEAD_BYTE2)
{
log_step++;
}
else
{
log_step = 0;
}
break;
case 2:
log_step = 0;
try
{
string line = logEntry(data, br);
return line;
}
catch
{
Debug.WriteLine("Bad Binary log line {0}", data);
}
break;
}
}
return "";
}
public Tuple<byte, long> ReadMessageTypeOffset(Stream br)
{
int log_step = 0;
long length = br.Length;
while (br.Position < length)
{
byte data = (byte)br.ReadByte();
switch (log_step)
{
case 0:
if (data == HEAD_BYTE1)
{
log_step++;
}
break;
case 1:
if (data == HEAD_BYTE2)
{
log_step++;
}
else
{
log_step = 0;
}
break;
case 2:
log_step = 0;
try
{
long pos = br.Position - 3;
logEntryFMT(data, br);
return new Tuple<byte, long>(data, pos);
}
catch
{
Debug.WriteLine("Bad Binary log line {0}", data);
}
break;
}
}
return null;
}
static char[] NullTerminator = new char[] { '\0' };
LogEntryFMT ReadLogFormat(Stream br)
{
int len = Marshal.SizeOf<log_Format>();
if (_logFormatPtr == IntPtr.Zero)
{
_logFormatPtr = Marshal.AllocCoTaskMem(len);
_logFormatBuffer = new byte[len];
}
br.Read(_logFormatBuffer, 0, _logFormatBuffer.Length);
// copy byte array to ptr
Marshal.Copy(_logFormatBuffer, 0, _logFormatPtr, len);
log_Format logfmt = Marshal.PtrToStructure<log_Format>(_logFormatPtr);
string lgname = ASCIIEncoding.ASCII.GetString(logfmt.name).Trim(NullTerminator);
var result = new LogEntryFMT()
{
Length = logfmt.length,
Type = logfmt.type,
Name = ASCIIEncoding.ASCII.GetString(logfmt.name).Trim(NullTerminator),
FormatString = ASCIIEncoding.ASCII.GetString(logfmt.format).Trim(NullTerminator),
Columns = ASCIIEncoding.ASCII.GetString(logfmt.labels).Trim(NullTerminator).Split(',')
};
if (result.Columns.Length == 1 && string.IsNullOrEmpty(result.Columns[0]))
{
result.Columns = new string[0];
}
packettypecache[logfmt.type] = result;
Debug.WriteLine("// FMT {0}, {1}, {2}, {3}", result.Name, result.Length, result.FormatString, string.Join(",", result.Columns));
if (GenerateParser)
{
StringWriter sw = new StringWriter();
GenerateLogEntryClass(result, sw);
Debug.WriteLine(sw.ToString());
}
return result;
}
public IEnumerable<LogEntryFMT> GetFormats()
{
return this.packettypecache.Values.ToArray();
}
void GenerateLogEntryParser(TextWriter writer)
{
writer.WriteLine("class LogEntryParser");
writer.WriteLine("{");
writer.WriteLine(" public static object ParseLogEntry(byte type, BinaryReader reader) {");
writer.WriteLine(" switch(type) {");
foreach (var pair in packettypecache)
{
LogEntryFMT fmt = pair.Value;
string className = LogEntryPrefix + fmt.Name;
writer.WriteLine(" case " + pair.Key + ":");
writer.WriteLine(" return " + className + ".Read(reader);");
}
writer.WriteLine(" }");
writer.WriteLine(" return null;");
writer.WriteLine(" }");
writer.WriteLine("}");
}
const string LogEntryPrefix = "LogEntry";
void GenerateLogEntryClass(LogEntryFMT fmt, TextWriter writer)
{
const string LogEntryPrefix = "LogEntry";
string className = LogEntryPrefix + fmt.Name;
writer.WriteLine("class " + className + " : LogEntry {");
writer.WriteLine(" public override string GetName() { return \"" + fmt.Name + "\"; }");
writer.WriteLine(" public override DataValue GetDataValue(string field) {");
writer.WriteLine(" switch (field) {");
bool hasTime = fmt.Columns.Contains("TimeMS");
string x = hasTime ? "this.TimeMS" : "0";
int i = 0;
foreach (var c in fmt.Columns)
{
writer.WriteLine(" case \"" + c + "\":");
switch (fmt.FormatString[i])
{
case 'n':
case 'N':
case 'Z':
writer.WriteLine(" return new DataValue() { X = " + x + ", Y = 0 };");
break;
default:
writer.WriteLine(" return new DataValue() { X = " + x + ", Y = this." + c + " };");
break;
}
i++;
}
writer.WriteLine(" }");
writer.WriteLine(" return null;");
writer.WriteLine(" }");
int k = 0;
int n = 0;
string format = fmt.FormatString;
for (k = 0, n = format.Length; k < n; k++)
{
char ch = format[k];
switch (ch)
{
case 'b':
writer.WriteLine(" public sbyte " + fmt.Columns[k] + ";");
break;
case 'B':
writer.WriteLine(" public byte " + fmt.Columns[k] + ";");
break;
case 'h':
writer.WriteLine(" public Int16 " + fmt.Columns[k] + ";");
break;
case 'H':
writer.WriteLine(" public UInt16 " + fmt.Columns[k] + ";");
break;
case 'i':
writer.WriteLine(" public Int32 " + fmt.Columns[k] + ";");
break;
case 'I':
writer.WriteLine(" public UInt32 " + fmt.Columns[k] + ";");
break;
case 'q':
writer.WriteLine(" public Int64 " + fmt.Columns[k] + ";");
break;
case 'Q':
writer.WriteLine(" public UInt64 " + fmt.Columns[k] + ";");
break;
case 'f':
writer.WriteLine(" public float " + fmt.Columns[k] + ";");
break;
case 'd':
writer.WriteLine(" public double " + fmt.Columns[k] + ";");
break;
case 'c':
writer.WriteLine(" public double " + fmt.Columns[k] + ";"); // divide by 100.0
break;
case 'C':
writer.WriteLine(" public double " + fmt.Columns[k] + ";"); // divide by 100.0
break;
case 'e':
writer.WriteLine(" public double " + fmt.Columns[k] + ";"); // divide by 100.0
break;
case 'E':
writer.WriteLine(" public double " + fmt.Columns[k] + ";"); // divide by 100.0
break;
case 'L':
writer.WriteLine(" public double " + fmt.Columns[k] + ";"); // divide by 10000000.0
break;
case 'n':
writer.WriteLine(" public string " + fmt.Columns[k] + ";");
break;
case 'N':
writer.WriteLine(" public string " + fmt.Columns[k] + ";");
break;
case 'M':
writer.WriteLine(" public byte " + fmt.Columns[k] + ";");
break;
case 'Z':
writer.WriteLine(" public string " + fmt.Columns[k] + ";");
break;
default:
writer.WriteLine(" // Unexpected format specifier '{0}'", ch);
break;
}
}
writer.WriteLine("");
writer.WriteLine(" public static " + className + " Read(BinaryReader reader) {");
writer.WriteLine(" " + className + " result = new " + className + "();");
for (k = 0, n = format.Length; k < n; k++)
{
char ch = format[k];
writer.Write(" result." + fmt.Columns[k] + " = ");
switch (ch)
{
case 'b':
writer.WriteLine("(sbyte)reader.ReadByte();");
break;
case 'B':
writer.WriteLine("reader.ReadByte();");
break;
case 'h':
writer.WriteLine("reader.ReadInt16();");
break;
case 'H':
writer.WriteLine("reader.ReadUInt16();");
break;
case 'i':
writer.WriteLine("reader.ReadInt32();");
break;
case 'I':
writer.WriteLine("reader.ReadUInt32();");
break;
case 'q':
writer.WriteLine("reader.ReadInt64();");
break;
case 'Q':
writer.WriteLine("reader.ReadUInt64();");
break;
case 'f':
writer.WriteLine("reader.ReadSingle();");
break;
case 'd':
writer.WriteLine("reader.ReadDouble();");
break;
case 'c':
writer.WriteLine("reader.ReadInt16() / 100.0;");
break;
case 'C':
writer.WriteLine("reader.ReadUInt16() / 100.0;");
break;
case 'e':
writer.WriteLine("reader.ReadInt32() / 100.0;");
break;
case 'E':
writer.WriteLine("reader.ReadUInt32() / 100.0;");
break;
case 'L':
writer.WriteLine("reader.ReadInt32() / 10000000.0;");
break;
case 'n':
writer.WriteLine("ReadAsciiString(reader, 4);");
break;
case 'N':
writer.WriteLine("ReadAsciiString(reader, 16);");
break;
case 'M':
writer.WriteLine("reader.ReadByte();");
break;
case 'Z':
writer.WriteLine("ReadAsciiString(reader, 64);");
break;
default:
break;
}
}
writer.WriteLine(" return result;");
writer.WriteLine(" }");
writer.WriteLine("}");
}
bool generatedParser;
void logEntryFMT(byte packettype, Stream br)
{
switch (packettype)
{
case 0x80: // FMT
ReadLogFormat(br);
return;
default:
string format = "";
string name = "";
int size = 0;
if (packettypecache.ContainsKey(packettype))
{
var fmt = packettypecache[packettype];
name = fmt.Name;
format = fmt.FormatString;
size = fmt.Length;
}
// didn't find a match, return unknown packet type
if (size == 0)
return;
br.Seek(size - 3, SeekOrigin.Current);
break;
}
}
public object ReadMessageObjects(Stream br)
{
int log_step = 0;
while (br.Position < br.Length)
{
byte data = (byte)br.ReadByte();
switch (log_step)
{
case 0:
if (data == HEAD_BYTE1)
{
log_step++;
}
break;
case 1:
if (data == HEAD_BYTE2)
{
log_step++;
}
else
{
log_step = 0;
}
break;
case 2:
log_step = 0;
return ReadRow(data, br);
}
}
return null;
}
object ReadRow(byte packettype, Stream br)
{
switch (packettype)
{
case 0x80: // FMT
ReadLogFormat(br);
return null;
default:
string format = "";
string name = "";
int size = 0;
if (!generatedParser && GenerateParser)
{
StringWriter writer = new StringWriter();
GenerateLogEntryParser(writer);
Debug.WriteLine(writer.ToString());
generatedParser = true;
}
LogEntryFMT fmt = null;
if (packettypecache.ContainsKey(packettype))
{
fmt = packettypecache[packettype];
name = fmt.Name;
format = fmt.FormatString;
size = fmt.Length;
}
// didn't find a match, return unknown packet type
if (fmt == null)
return null;
int len = size - 3; // size - 3 = message - messagetype - (header *2)
if (buffer == null || buffer.Length < len)
{
buffer = new byte[len];
}
br.Read(buffer, 0, len);
MemoryStream ms = new MemoryStream(buffer, 0, len);
BinaryReader reader = new BinaryReader(ms);
LogEntry entry = new LogEntry()
{
Format = fmt,
Blob = ms.ToArray(),
Name = fmt.Name
};
if (name == "TIME")
{
ulong time = entry.GetField<ulong>("StartTime");
if (time > 0)
{
this.currentTime = time;
}
}
if (this.logType == LogType.binFile)
{
ulong time = entry.GetField<ulong>("TimeMS");
if (time > 0)
{
this.currentTime = time;
}
else if (time == 0)
{
entry.SetField("TimeMS", this.currentTime);
}
}
entry.Timestamp = currentTime;
return entry;
}
}
private byte[] buffer;
/// <summary>
/// Process each log entry
/// </summary>
/// <param name="packettype">packet type</param>
/// <param name="br">input file</param>
/// <returns>string of converted data</returns>
string logEntry(byte packettype, Stream br)
{
switch (packettype)
{
case 0x80: // FMT
LogEntryFMT logfmt = ReadLogFormat(br);
string line = String.Format("FMT, {0}, {1}, {2}, {3}, {4}\r\n", logfmt.Type, logfmt.Length, logfmt.Name,
logfmt.FormatString, string.Join(",", logfmt.Columns));
return line;
default:
string format = "";
string name = "";
int size = 0;
if (packettypecache.ContainsKey(packettype))
{
var fmt = packettypecache[packettype];
name = fmt.Name;
format = fmt.FormatString;
size = fmt.Length;
}
// didn't find a match, return unknown packet type
if (size == 0)
return "UNKW, " + packettype;
byte[] data = new byte[size - 3]; // size - 3 = message - messagetype - (header *2)
br.Read(data, 0, data.Length);
return ProcessMessage(data, name, format);
}
}
Dictionary<int, LogEntryFMT> packettypecache = new Dictionary<int, LogEntryFMT>();
/*
105 +Format characters in the format string for binary log messages
106 + b : int8_t
107 + B : uint8_t
108 + h : int16_t
109 + H : uint16_t
110 + i : int32_t
111 + I : uint32_t
112 + f : float
* d : double
113 + N : char[16]
114 + c : int16_t * 100
115 + C : uint16_t * 100
116 + e : int32_t * 100
117 + E : uint32_t * 100
118 + L : uint32_t latitude/longitude
119 + */
/// <summary>
/// Convert to ascii based on the existing format message
/// </summary>
/// <param name="message">raw binary message</param>
/// <param name="name">Message type name</param>
/// <param name="format">format string containing packet structure</param>
/// <returns>formatted ascii string</returns>
string ProcessMessage(byte[] message, string name, string format)
{
char[] form = format.ToCharArray();
int offset = 0;
StringBuilder line = new StringBuilder(name, 1024);
foreach (char ch in form)
{
switch (ch)
{
case 'b':
line.Append(", " + (sbyte)message[offset]);
offset++;
break;
case 'B':
line.Append(", " + message[offset]);
offset++;
break;
case 'h':
line.Append(", " +
BitConverter.ToInt16(message, offset)
.ToString(System.Globalization.CultureInfo.InvariantCulture));
offset += 2;
break;
case 'H':
line.Append(", " +
BitConverter.ToUInt16(message, offset)
.ToString(System.Globalization.CultureInfo.InvariantCulture));
offset += 2;
break;
case 'i':
line.Append(", " +
BitConverter.ToInt32(message, offset)
.ToString(System.Globalization.CultureInfo.InvariantCulture));
offset += 4;
break;
case 'I':
line.Append(", " +
BitConverter.ToUInt32(message, offset)
.ToString(System.Globalization.CultureInfo.InvariantCulture));
offset += 4;
break;
case 'q':
line.Append(", " +
BitConverter.ToInt64(message, offset)
.ToString(System.Globalization.CultureInfo.InvariantCulture));
offset += 8;
break;
case 'Q':
line.Append(", " +
BitConverter.ToUInt64(message, offset)
.ToString(System.Globalization.CultureInfo.InvariantCulture));
offset += 8;
break;
case 'f':
line.Append(", " +
BitConverter.ToSingle(message, offset)
.ToString(System.Globalization.CultureInfo.InvariantCulture));
offset += 4;
break;
case 'd':
line.Append(", " +
BitConverter.ToDouble(message, offset)
.ToString(System.Globalization.CultureInfo.InvariantCulture));
offset += 8;
break;
case 'c':
line.Append(", " +
(BitConverter.ToInt16(message, offset) / 100.0).ToString("0.00",
System.Globalization.CultureInfo.InvariantCulture));
offset += 2;
break;
case 'C':
line.Append(", " +
(BitConverter.ToUInt16(message, offset) / 100.0).ToString("0.00",
System.Globalization.CultureInfo.InvariantCulture));
offset += 2;
break;
case 'e':
line.Append(", " +
(BitConverter.ToInt32(message, offset) / 100.0).ToString("0.00",
System.Globalization.CultureInfo.InvariantCulture));
offset += 4;
break;
case 'E':
line.Append(", " +
(BitConverter.ToUInt32(message, offset) / 100.0).ToString("0.00",
System.Globalization.CultureInfo.InvariantCulture));
offset += 4;
break;
case 'L':
line.Append(", " +
((double)BitConverter.ToInt32(message, offset) / 10000000.0).ToString(
System.Globalization.CultureInfo.InvariantCulture));
offset += 4;
break;
case 'n':
line.Append(", " + ASCIIEncoding.ASCII.GetString(message, offset, 4).Trim(NullTerminator));
offset += 4;
break;
case 'N':
line.Append(", " + ASCIIEncoding.ASCII.GetString(message, offset, 16).Trim(NullTerminator));
offset += 16;
break;
case 'M':
int modeno = message[offset];
var modes = GetModesList();
string currentmode = "";
foreach (var mode in modes)
{
if (mode.Key == modeno)
{
currentmode = mode.Value;
break;
}
}
line.Append(", " + currentmode);
offset++;
break;
case 'Z':
line.Append(", " + ASCIIEncoding.ASCII.GetString(message, offset, 64).Trim(NullTerminator));
offset += 64;
break;
default:
return "Bad Conversion";
}
}
line.Append("\r\n");
return line.ToString();
}
List<KeyValuePair<int, string>> modeList;
private List<KeyValuePair<int, string>> GetModesList()
{
if (modeList == null)
{
modeList = new List<KeyValuePair<int, string>>()
{
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_MANUAL << 16, "Manual"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_ACRO << 16, "Acro"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_STABILIZED << 16, "Stabalized"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_RATTITUDE << 16, "Rattitude"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_ALTCTL << 16, "Altitude Control"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_POSCTL << 16, "Position Control"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_OFFBOARD << 16, "Offboard Control"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_READY << 24, "Auto: Ready"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF << 24, "Auto: Takeoff"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_LOITER << 24, "Loiter"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_MISSION << 24, "Auto"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_RTL << 24, "RTL"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_LAND << 24, "Auto: Landing")
};
}
return modeList;
}
enum PX4_CUSTOM_MAIN_MODE
{
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_ALTCTL,
PX4_CUSTOM_MAIN_MODE_POSCTL,
PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_MAIN_MODE_ACRO,
PX4_CUSTOM_MAIN_MODE_OFFBOARD,
PX4_CUSTOM_MAIN_MODE_STABILIZED,
PX4_CUSTOM_MAIN_MODE_RATTITUDE
}
enum PX4_CUSTOM_SUB_MODE_AUTO
{
PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
PX4_CUSTOM_SUB_MODE_AUTO_RTGS
}
}
} | AirSim/LogViewer/LogViewer/Utilities/PX4BinaryLog.cs/0 | {
"file_path": "AirSim/LogViewer/LogViewer/Utilities/PX4BinaryLog.cs",
"repo_id": "AirSim",
"token_count": 20598
} | 24 |
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="Newtonsoft.Json" version="13.0.1" targetFramework="net452" />
</packages> | AirSim/LogViewer/Networking/packages.config/0 | {
"file_path": "AirSim/LogViewer/Networking/packages.config",
"repo_id": "AirSim",
"token_count": 55
} | 25 |
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
// MavlinkMoCap.cpp : Defines the entry point for the console application.
//
#include "stdafx.h"
#include <chrono>
#include <thread>
#include "NPTrackingTools.h"
#include "MavLinkConnection.hpp"
#include "MavLinkVehicle.hpp"
#include "MavLinkMessages.hpp"
using namespace mavlinkcom;
void CheckResult(NPRESULT result)
{
if (result != NPRESULT_SUCCESS) {
// Treat all errors as failure conditions.
printf("Error: %s\n", TT_GetResultString(result));
exit(1);
}
}
void mavlink_euler_to_quaternion(float roll, float pitch, float yaw, float quaternion[4])
{
float cosPhi_2 = cosf(roll / 2);
float sinPhi_2 = sinf(roll / 2);
float cosTheta_2 = cosf(pitch / 2);
float sinTheta_2 = sinf(pitch / 2);
float cosPsi_2 = cosf(yaw / 2);
float sinPsi_2 = sinf(yaw / 2);
quaternion[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
sinPhi_2 * sinTheta_2 * sinPsi_2);
quaternion[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
cosPhi_2 * sinTheta_2 * sinPsi_2);
quaternion[2] = (cosPhi_2 * sinTheta_2 * cosPsi_2 +
sinPhi_2 * cosTheta_2 * sinPsi_2);
quaternion[3] = (cosPhi_2 * cosTheta_2 * sinPsi_2 -
sinPhi_2 * sinTheta_2 * cosPsi_2);
}
class PortAddress
{
public:
std::string addr;
int port;
};
PortAddress endPoint = { "127.0.0.1", 14590 };
std::string bodyName = "Quadrocopter"; // expected name.
std::string project;
bool ParseCommandLine(int argc, char* argv[])
{
// parse command line
for (int i = 1; i < argc; i++) {
const char* arg = argv[i];
if (arg[0] == '-' || arg[0] == '/') {
std::string option(arg + 1);
std::vector<std::string> parts = Utils::split(parts, ":,", 2);
if (lower == "server") {
if (parts.size() > 1) {
endPoint.addr = parts[1];
if (parts.size() > 2) {
endPoint.port = atoi(parts[2].c_str());
}
}
}
else if (lower == "body") {
if (parts.size() > 1) {
bodyName = parts[1];
}
}
else if (lower == "project") {
if (parts.size() > 1) {
project = parts[1];
if (parts.size() > 2) {
project += ":";
project += parts[2];
}
}
}
else if (lower == "?" || lower == "h" || lower == "help") {
return false;
}
else {
printf("### Error: unexpected argument: %s\n", arg);
return false;
}
}
}
return true;
}
void PrintUsage()
{
printf("Usage: MavLinkMoCap options\n");
printf("Connects PX4 to ATT_POS_MOCAP messages from OptiTrack system.\n");
printf("Using a project you created already using OptiTrack Motive\n");
printf("Options: \n");
printf(" -project:d:/path/to/motive/project.ttp\n");
printf(" -server:ipaddr[:port]] - connect to drone via this udp address (default 127.0.0.1:14590)\n");
printf(" -body:name - specify name of rigid body to track (default 'Quadrocopter')\n");
}
int main(int argc, char* argv[])
{
int rc = 0;
if (!ParseCommandLine(argc, argv)) {
PrintUsage();
return 1;
}
if (project == "") {
printf("error: please specify the Motive project to load.\n");
PrintUsage();
return 1;
}
// motive gives a weird error if the project is not found, so we look for it.
FILE* ptr = fopen(project.c_str(), "rb");
if (ptr == nullptr) {
int rc = errno;
printf("error: cannot open project file '%s', rc=%d\n", project.c_str(), rc);
PrintUsage();
return 1;
}
fclose(ptr);
printf("Initializing NaturalPoint Devices\n");
TT_Initialize();
// Do an update to pick up any recently-arrived cameras.
TT_Update();
printf("Loading Project: %s\n", project.c_str());
CheckResult(TT_LoadProject(project.c_str()));
// List all detected cameras.
printf("Cameras:\n");
for (int i = 0; i < TT_CameraCount(); i++) {
printf("\t%s\n", TT_CameraName(i));
}
printf("\n");
// List all defined rigid bodies.
printf("Rigid Bodies:\n");
for (int i = 0; i < TT_RigidBodyCount(); i++) {
printf("\t%s\n", TT_RigidBodyName(i));
}
printf("\n");
printf("Starting MOCAP server at %s:%d\n", endPoint.addr.c_str(), endPoint.port);
std::shared_ptr<MavLinkConnection> proxyConnection = MavLinkConnection::connectLocalUdp("optitrack", endPoint.addr, endPoint.port);
auto start = std::chrono::system_clock::now();
int body = -1;
printf("Looking for Motive RigidBody named '%s'\n", bodyName.c_str());
while (true) {
if (TT_Update() == NPRESULT_SUCCESS) {
float yaw, pitch, roll;
float x, y, z;
float qx, qy, qz, qw;
if (body == -1) {
for (int i = 0; i < TT_RigidBodyCount(); i++) {
const char* found = TT_RigidBodyName(i);
if (strcmp(found, bodyName.c_str()) == 0) {
printf("Found '%s'\n", bodyName.c_str());
printf("Waiting for body tracking data...\n");
body = i;
break;
}
}
}
if (body >= 0) {
TT_RigidBodyLocation(body, &x, &y, &z, &qx, &qy, &qz, &qw, &yaw, &pitch, &roll);
if (TT_IsRigidBodyTracked(body)) {
auto now = std::chrono::system_clock::now();
auto duration = now - start;
// throttle to 50 messages per second.
if (std::chrono::duration_cast<std::chrono::milliseconds>(duration).count() > 20) {
if (x < -10 || x > 10) {
printf("X out of range: %f\n", x);
}
else if (y < -10 || y > 10) {
printf("Y out of range: %f\n", y);
}
else if (z < -10 || z > 10) {
printf("Z out of range: %f\n", z);
}
else {
printf("Pos (%.3f, %.3f, %.3f) Orient (%.1f, %.1f, %.1f)\n",
x,
y,
z,
yaw,
pitch,
roll);
MavLinkAttPosMocap pos;
// OptiTrack uses 'y' axis for vertical.
pos.x = x;
pos.y = z;
pos.z = -y; // convert to NED coordinates.
pos.time_usec = std::chrono::duration_cast<std::chrono::microseconds>(now.time_since_epoch()).count();
pos.compid = 1;
pos.sysid = 166;
mavlink_euler_to_quaternion(roll, pitch, yaw, pos.q);
proxyConnection->sendMessage(pos);
start = now;
}
}
}
}
}
}
return 0;
}
| AirSim/MavLinkCom/MavLinkMoCap/MavlinkMoCap.cpp/0 | {
"file_path": "AirSim/MavLinkCom/MavLinkMoCap/MavlinkMoCap.cpp",
"repo_id": "AirSim",
"token_count": 4231
} | 26 |
../../../build/AirSim/MavLinkTest/MavLinkTest -serial:/dev/ttyACM0,115200 -logdir:. -proxy:192.168.137.1:14550 -local:192.168.137.228
| AirSim/MavLinkCom/MavLinkTest/run.sh/0 | {
"file_path": "AirSim/MavLinkCom/MavLinkTest/run.sh",
"repo_id": "AirSim",
"token_count": 58
} | 27 |
#ifndef MavLinkCom_AdHocConnection_hpp
#define MavLinkCom_AdHocConnection_hpp
#include <functional>
#include <memory>
#include <string>
#include <vector>
#ifndef ONECORE
#if defined(_WIN32) && defined(_MSC_VER)
#pragma comment(lib, "Setupapi.lib")
#pragma comment(lib, "Cfgmgr32.lib")
#endif
#endif
class Port;
namespace mavlinkcom_impl
{
class AdHocConnectionImpl;
}
namespace mavlinkcom
{
class AdHocConnection;
// This callback is invoked when a MavLink message is read from the connection.
typedef std::function<void(std::shared_ptr<AdHocConnection> connection, const std::vector<uint8_t>& msg)> AdHocMessageHandler;
// This class represents a single connection to a remote non-mavlink node connected either over UDP, TCP or Serial port.
// You can use this connection to send a message directly to that node, and start listening to messages
// from that remote node. You can handle those messages directly using subscribe.
class AdHocConnection : public std::enable_shared_from_this<AdHocConnection>
{
public:
AdHocConnection();
// Start listening on a specific local port for packets from any remote computer. Once a packet is received
// it will remember the remote address of the sender so that subsequend sendMessage calls will go back to that sender.
// This is useful if the remote sender already knows which local port you plan to listen on.
// The localAddr can also a specific local ip address if you need to specify which
// network interface to use, for example, a corporate wired ethernet usually does not transmit UDP packets
// to a wifi connected device, so in that case the localAddress needs to be the IP address of a specific wifi internet
// adapter rather than 127.0.0.1.
static std::shared_ptr<AdHocConnection> connectLocalUdp(const std::string& nodeName, std::string localAddr, int localPort);
// Connect to a specific remote machine that is already listening on a specific port for messages from any computer.
// This will use any free local port that is available.
// The localAddr can also a specific local ip address if you need to specify which
// network interface to use, for example, a corporate wired ethernet usually does not transmit UDP packets
// to a wifi connected device, so in that case the localAddress needs to be the IP address of a specific wifi internet
// adapter rather than 127.0.0.1.
static std::shared_ptr<AdHocConnection> connectRemoteUdp(const std::string& nodeName, std::string localAddr, std::string remoteAddr, int remotePort);
// instance methods
bool isOpen();
void close();
// provide a callback function that will be called for every message "received" from the remote mavlink node.
int subscribe(AdHocMessageHandler handler);
void unsubscribe(int id);
uint8_t getNextSequence();
// Pack and send the given message, assuming the compid and sysid have been set by the caller.
void sendMessage(const std::vector<uint8_t>& msg);
protected:
void startListening(const std::string& nodeName, std::shared_ptr<Port> connectedPort);
public:
//needed for piml pattern
~AdHocConnection();
private:
std::unique_ptr<mavlinkcom_impl::AdHocConnectionImpl> pImpl;
friend class MavLinkNode;
friend class mavlinkcom_impl::AdHocConnectionImpl;
};
}
#endif
| AirSim/MavLinkCom/include/AdHocConnection.hpp/0 | {
"file_path": "AirSim/MavLinkCom/include/AdHocConnection.hpp",
"repo_id": "AirSim",
"token_count": 975
} | 28 |
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#include "MavLinkMessages.hpp"
#include <sstream>
using namespace mavlinkcom;
int MavLinkHeartbeat::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->custom_mode), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->type), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->autopilot), 5);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->base_mode), 6);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->system_status), 7);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mavlink_version), 8);
return 9;
}
int MavLinkHeartbeat::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->custom_mode), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->type), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->autopilot), 5);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->base_mode), 6);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->system_status), 7);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mavlink_version), 8);
return 9;
}
std::string MavLinkHeartbeat::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HEARTBEAT\", \"id\": 0, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"custom_mode\":" << this->custom_mode;
ss << ", \"type\":" << static_cast<unsigned int>(this->type);
ss << ", \"autopilot\":" << static_cast<unsigned int>(this->autopilot);
ss << ", \"base_mode\":" << static_cast<unsigned int>(this->base_mode);
ss << ", \"system_status\":" << static_cast<unsigned int>(this->system_status);
ss << ", \"mavlink_version\":" << static_cast<unsigned int>(this->mavlink_version);
ss << "} },";
return ss.str();
}
int MavLinkSysStatus::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->onboard_control_sensors_present), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->onboard_control_sensors_enabled), 4);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->onboard_control_sensors_health), 8);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->load), 12);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->voltage_battery), 14);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->current_battery), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->drop_rate_comm), 18);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->errors_comm), 20);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->errors_count1), 22);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->errors_count2), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->errors_count3), 26);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->errors_count4), 28);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->battery_remaining), 30);
return 31;
}
int MavLinkSysStatus::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->onboard_control_sensors_present), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->onboard_control_sensors_enabled), 4);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->onboard_control_sensors_health), 8);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->load), 12);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->voltage_battery), 14);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->current_battery), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->drop_rate_comm), 18);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->errors_comm), 20);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->errors_count1), 22);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->errors_count2), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->errors_count3), 26);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->errors_count4), 28);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->battery_remaining), 30);
return 31;
}
std::string MavLinkSysStatus::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SYS_STATUS\", \"id\": 1, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"onboard_control_sensors_present\":" << this->onboard_control_sensors_present;
ss << ", \"onboard_control_sensors_enabled\":" << this->onboard_control_sensors_enabled;
ss << ", \"onboard_control_sensors_health\":" << this->onboard_control_sensors_health;
ss << ", \"load\":" << this->load;
ss << ", \"voltage_battery\":" << this->voltage_battery;
ss << ", \"current_battery\":" << this->current_battery;
ss << ", \"drop_rate_comm\":" << this->drop_rate_comm;
ss << ", \"errors_comm\":" << this->errors_comm;
ss << ", \"errors_count1\":" << this->errors_count1;
ss << ", \"errors_count2\":" << this->errors_count2;
ss << ", \"errors_count3\":" << this->errors_count3;
ss << ", \"errors_count4\":" << this->errors_count4;
ss << ", \"battery_remaining\":" << static_cast<int>(this->battery_remaining);
ss << "} },";
return ss.str();
}
int MavLinkSystemTime::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_unix_usec), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 8);
return 12;
}
int MavLinkSystemTime::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_unix_usec), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 8);
return 12;
}
std::string MavLinkSystemTime::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SYSTEM_TIME\", \"id\": 2, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_unix_usec\":" << this->time_unix_usec;
ss << ", \"time_boot_ms\":" << this->time_boot_ms;
ss << "} },";
return ss.str();
}
int MavLinkPing::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->seq), 8);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 12);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 13);
return 14;
}
int MavLinkPing::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->seq), 8);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 12);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 13);
return 14;
}
std::string MavLinkPing::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"PING\", \"id\": 4, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"seq\":" << this->seq;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << "} },";
return ss.str();
}
int MavLinkChangeOperatorControl::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->control_request), 1);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->version), 2);
pack_char_array(25, buffer, reinterpret_cast<const char*>(&this->passkey[0]), 3);
return 28;
}
int MavLinkChangeOperatorControl::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->control_request), 1);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->version), 2);
unpack_char_array(25, buffer, reinterpret_cast<char*>(&this->passkey[0]), 3);
return 28;
}
std::string MavLinkChangeOperatorControl::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"CHANGE_OPERATOR_CONTROL\", \"id\": 5, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"control_request\":" << static_cast<unsigned int>(this->control_request);
ss << ", \"version\":" << static_cast<unsigned int>(this->version);
ss << ", \"passkey\":"
<< "\"" << char_array_tostring(25, reinterpret_cast<char*>(&this->passkey[0])) << "\"";
ss << "} },";
return ss.str();
}
int MavLinkChangeOperatorControlAck::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->gcs_system_id), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->control_request), 1);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->ack), 2);
return 3;
}
int MavLinkChangeOperatorControlAck::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->gcs_system_id), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->control_request), 1);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->ack), 2);
return 3;
}
std::string MavLinkChangeOperatorControlAck::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"CHANGE_OPERATOR_CONTROL_ACK\", \"id\": 6, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"gcs_system_id\":" << static_cast<unsigned int>(this->gcs_system_id);
ss << ", \"control_request\":" << static_cast<unsigned int>(this->control_request);
ss << ", \"ack\":" << static_cast<unsigned int>(this->ack);
ss << "} },";
return ss.str();
}
int MavLinkAuthKey::pack(char* buffer) const
{
pack_char_array(32, buffer, reinterpret_cast<const char*>(&this->key[0]), 0);
return 32;
}
int MavLinkAuthKey::unpack(const char* buffer)
{
unpack_char_array(32, buffer, reinterpret_cast<char*>(&this->key[0]), 0);
return 32;
}
std::string MavLinkAuthKey::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"AUTH_KEY\", \"id\": 7, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"key\":"
<< "\"" << char_array_tostring(32, reinterpret_cast<char*>(&this->key[0])) << "\"";
ss << "} },";
return ss.str();
}
int MavLinkLinkNodeStatus::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->timestamp), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->tx_rate), 8);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->rx_rate), 12);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->messages_sent), 16);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->messages_received), 20);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->messages_lost), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->rx_parse_err), 28);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->tx_overflows), 30);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->rx_overflows), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->tx_buf), 34);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rx_buf), 35);
return 36;
}
int MavLinkLinkNodeStatus::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->timestamp), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->tx_rate), 8);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->rx_rate), 12);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->messages_sent), 16);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->messages_received), 20);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->messages_lost), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->rx_parse_err), 28);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->tx_overflows), 30);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->rx_overflows), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->tx_buf), 34);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rx_buf), 35);
return 36;
}
std::string MavLinkLinkNodeStatus::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LINK_NODE_STATUS\", \"id\": 8, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"timestamp\":" << this->timestamp;
ss << ", \"tx_rate\":" << this->tx_rate;
ss << ", \"rx_rate\":" << this->rx_rate;
ss << ", \"messages_sent\":" << this->messages_sent;
ss << ", \"messages_received\":" << this->messages_received;
ss << ", \"messages_lost\":" << this->messages_lost;
ss << ", \"rx_parse_err\":" << this->rx_parse_err;
ss << ", \"tx_overflows\":" << this->tx_overflows;
ss << ", \"rx_overflows\":" << this->rx_overflows;
ss << ", \"tx_buf\":" << static_cast<unsigned int>(this->tx_buf);
ss << ", \"rx_buf\":" << static_cast<unsigned int>(this->rx_buf);
ss << "} },";
return ss.str();
}
int MavLinkSetMode::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->custom_mode), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->base_mode), 5);
return 6;
}
int MavLinkSetMode::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->custom_mode), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->base_mode), 5);
return 6;
}
std::string MavLinkSetMode::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SET_MODE\", \"id\": 11, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"custom_mode\":" << this->custom_mode;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"base_mode\":" << static_cast<unsigned int>(this->base_mode);
ss << "} },";
return ss.str();
}
int MavLinkParamAckTransaction::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->param_value), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 5);
pack_char_array(16, buffer, reinterpret_cast<const char*>(&this->param_id[0]), 6);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->param_type), 22);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->param_result), 23);
return 24;
}
int MavLinkParamAckTransaction::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->param_value), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 5);
unpack_char_array(16, buffer, reinterpret_cast<char*>(&this->param_id[0]), 6);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->param_type), 22);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->param_result), 23);
return 24;
}
std::string MavLinkParamAckTransaction::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"PARAM_ACK_TRANSACTION\", \"id\": 19, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"param_value\":" << float_tostring(this->param_value);
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"param_id\":"
<< "\"" << char_array_tostring(16, reinterpret_cast<char*>(&this->param_id[0])) << "\"";
ss << ", \"param_type\":" << static_cast<unsigned int>(this->param_type);
ss << ", \"param_result\":" << static_cast<unsigned int>(this->param_result);
ss << "} },";
return ss.str();
}
int MavLinkParamRequestRead::pack(char* buffer) const
{
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->param_index), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 3);
pack_char_array(16, buffer, reinterpret_cast<const char*>(&this->param_id[0]), 4);
return 20;
}
int MavLinkParamRequestRead::unpack(const char* buffer)
{
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->param_index), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 3);
unpack_char_array(16, buffer, reinterpret_cast<char*>(&this->param_id[0]), 4);
return 20;
}
std::string MavLinkParamRequestRead::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"PARAM_REQUEST_READ\", \"id\": 20, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"param_index\":" << this->param_index;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"param_id\":"
<< "\"" << char_array_tostring(16, reinterpret_cast<char*>(&this->param_id[0])) << "\"";
ss << "} },";
return ss.str();
}
int MavLinkParamRequestList::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 1);
return 2;
}
int MavLinkParamRequestList::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 1);
return 2;
}
std::string MavLinkParamRequestList::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"PARAM_REQUEST_LIST\", \"id\": 21, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << "} },";
return ss.str();
}
int MavLinkParamValue::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->param_value), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->param_count), 4);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->param_index), 6);
pack_char_array(16, buffer, reinterpret_cast<const char*>(&this->param_id[0]), 8);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->param_type), 24);
return 25;
}
int MavLinkParamValue::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->param_value), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->param_count), 4);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->param_index), 6);
unpack_char_array(16, buffer, reinterpret_cast<char*>(&this->param_id[0]), 8);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->param_type), 24);
return 25;
}
std::string MavLinkParamValue::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"PARAM_VALUE\", \"id\": 22, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"param_value\":" << float_tostring(this->param_value);
ss << ", \"param_count\":" << this->param_count;
ss << ", \"param_index\":" << this->param_index;
ss << ", \"param_id\":"
<< "\"" << char_array_tostring(16, reinterpret_cast<char*>(&this->param_id[0])) << "\"";
ss << ", \"param_type\":" << static_cast<unsigned int>(this->param_type);
ss << "} },";
return ss.str();
}
int MavLinkParamSet::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->param_value), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 5);
pack_char_array(16, buffer, reinterpret_cast<const char*>(&this->param_id[0]), 6);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->param_type), 22);
return 23;
}
int MavLinkParamSet::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->param_value), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 5);
unpack_char_array(16, buffer, reinterpret_cast<char*>(&this->param_id[0]), 6);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->param_type), 22);
return 23;
}
std::string MavLinkParamSet::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"PARAM_SET\", \"id\": 23, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"param_value\":" << float_tostring(this->param_value);
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"param_id\":"
<< "\"" << char_array_tostring(16, reinterpret_cast<char*>(&this->param_id[0])) << "\"";
ss << ", \"param_type\":" << static_cast<unsigned int>(this->param_type);
ss << "} },";
return ss.str();
}
int MavLinkGpsRawInt::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 12);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->alt), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->eph), 20);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->epv), 22);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->vel), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->cog), 26);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->fix_type), 28);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->satellites_visible), 29);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->alt_ellipsoid), 30);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->h_acc), 34);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->v_acc), 38);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->vel_acc), 42);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->hdg_acc), 46);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->yaw), 50);
return 52;
}
int MavLinkGpsRawInt::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 12);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->alt), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->eph), 20);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->epv), 22);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->vel), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->cog), 26);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->fix_type), 28);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->satellites_visible), 29);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->alt_ellipsoid), 30);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->h_acc), 34);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->v_acc), 38);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->vel_acc), 42);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->hdg_acc), 46);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->yaw), 50);
return 52;
}
std::string MavLinkGpsRawInt::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GPS_RAW_INT\", \"id\": 24, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"alt\":" << this->alt;
ss << ", \"eph\":" << this->eph;
ss << ", \"epv\":" << this->epv;
ss << ", \"vel\":" << this->vel;
ss << ", \"cog\":" << this->cog;
ss << ", \"fix_type\":" << static_cast<unsigned int>(this->fix_type);
ss << ", \"satellites_visible\":" << static_cast<unsigned int>(this->satellites_visible);
ss << ", \"alt_ellipsoid\":" << this->alt_ellipsoid;
ss << ", \"h_acc\":" << this->h_acc;
ss << ", \"v_acc\":" << this->v_acc;
ss << ", \"vel_acc\":" << this->vel_acc;
ss << ", \"hdg_acc\":" << this->hdg_acc;
ss << ", \"yaw\":" << this->yaw;
ss << "} },";
return ss.str();
}
int MavLinkGpsStatus::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->satellites_visible), 0);
pack_uint8_t_array(20, buffer, reinterpret_cast<const uint8_t*>(&this->satellite_prn[0]), 1);
pack_uint8_t_array(20, buffer, reinterpret_cast<const uint8_t*>(&this->satellite_used[0]), 21);
pack_uint8_t_array(20, buffer, reinterpret_cast<const uint8_t*>(&this->satellite_elevation[0]), 41);
pack_uint8_t_array(20, buffer, reinterpret_cast<const uint8_t*>(&this->satellite_azimuth[0]), 61);
pack_uint8_t_array(20, buffer, reinterpret_cast<const uint8_t*>(&this->satellite_snr[0]), 81);
return 101;
}
int MavLinkGpsStatus::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->satellites_visible), 0);
unpack_uint8_t_array(20, buffer, reinterpret_cast<uint8_t*>(&this->satellite_prn[0]), 1);
unpack_uint8_t_array(20, buffer, reinterpret_cast<uint8_t*>(&this->satellite_used[0]), 21);
unpack_uint8_t_array(20, buffer, reinterpret_cast<uint8_t*>(&this->satellite_elevation[0]), 41);
unpack_uint8_t_array(20, buffer, reinterpret_cast<uint8_t*>(&this->satellite_azimuth[0]), 61);
unpack_uint8_t_array(20, buffer, reinterpret_cast<uint8_t*>(&this->satellite_snr[0]), 81);
return 101;
}
std::string MavLinkGpsStatus::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GPS_STATUS\", \"id\": 25, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"satellites_visible\":" << static_cast<unsigned int>(this->satellites_visible);
ss << ", \"satellite_prn\":"
<< "[" << uint8_t_array_tostring(20, reinterpret_cast<uint8_t*>(&this->satellite_prn[0])) << "]";
ss << ", \"satellite_used\":"
<< "[" << uint8_t_array_tostring(20, reinterpret_cast<uint8_t*>(&this->satellite_used[0])) << "]";
ss << ", \"satellite_elevation\":"
<< "[" << uint8_t_array_tostring(20, reinterpret_cast<uint8_t*>(&this->satellite_elevation[0])) << "]";
ss << ", \"satellite_azimuth\":"
<< "[" << uint8_t_array_tostring(20, reinterpret_cast<uint8_t*>(&this->satellite_azimuth[0])) << "]";
ss << ", \"satellite_snr\":"
<< "[" << uint8_t_array_tostring(20, reinterpret_cast<uint8_t*>(&this->satellite_snr[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkScaledImu::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xacc), 4);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->yacc), 6);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zacc), 8);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xgyro), 10);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->ygyro), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zgyro), 14);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xmag), 16);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->ymag), 18);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zmag), 20);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 22);
return 24;
}
int MavLinkScaledImu::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xacc), 4);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->yacc), 6);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zacc), 8);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xgyro), 10);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->ygyro), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zgyro), 14);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xmag), 16);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->ymag), 18);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zmag), 20);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 22);
return 24;
}
std::string MavLinkScaledImu::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SCALED_IMU\", \"id\": 26, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"xacc\":" << this->xacc;
ss << ", \"yacc\":" << this->yacc;
ss << ", \"zacc\":" << this->zacc;
ss << ", \"xgyro\":" << this->xgyro;
ss << ", \"ygyro\":" << this->ygyro;
ss << ", \"zgyro\":" << this->zgyro;
ss << ", \"xmag\":" << this->xmag;
ss << ", \"ymag\":" << this->ymag;
ss << ", \"zmag\":" << this->zmag;
ss << ", \"temperature\":" << this->temperature;
ss << "} },";
return ss.str();
}
int MavLinkRawImu::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xacc), 8);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->yacc), 10);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zacc), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xgyro), 14);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->ygyro), 16);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zgyro), 18);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xmag), 20);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->ymag), 22);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zmag), 24);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->id), 26);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 27);
return 29;
}
int MavLinkRawImu::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xacc), 8);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->yacc), 10);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zacc), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xgyro), 14);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->ygyro), 16);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zgyro), 18);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xmag), 20);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->ymag), 22);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zmag), 24);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->id), 26);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 27);
return 29;
}
std::string MavLinkRawImu::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"RAW_IMU\", \"id\": 27, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"xacc\":" << this->xacc;
ss << ", \"yacc\":" << this->yacc;
ss << ", \"zacc\":" << this->zacc;
ss << ", \"xgyro\":" << this->xgyro;
ss << ", \"ygyro\":" << this->ygyro;
ss << ", \"zgyro\":" << this->zgyro;
ss << ", \"xmag\":" << this->xmag;
ss << ", \"ymag\":" << this->ymag;
ss << ", \"zmag\":" << this->zmag;
ss << ", \"id\":" << static_cast<unsigned int>(this->id);
ss << ", \"temperature\":" << this->temperature;
ss << "} },";
return ss.str();
}
int MavLinkRawPressure::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->press_abs), 8);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->press_diff1), 10);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->press_diff2), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 14);
return 16;
}
int MavLinkRawPressure::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->press_abs), 8);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->press_diff1), 10);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->press_diff2), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 14);
return 16;
}
std::string MavLinkRawPressure::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"RAW_PRESSURE\", \"id\": 28, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"press_abs\":" << this->press_abs;
ss << ", \"press_diff1\":" << this->press_diff1;
ss << ", \"press_diff2\":" << this->press_diff2;
ss << ", \"temperature\":" << this->temperature;
ss << "} },";
return ss.str();
}
int MavLinkScaledPressure::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->press_abs), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->press_diff), 8);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature_press_diff), 14);
return 16;
}
int MavLinkScaledPressure::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->press_abs), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->press_diff), 8);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature_press_diff), 14);
return 16;
}
std::string MavLinkScaledPressure::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SCALED_PRESSURE\", \"id\": 29, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"press_abs\":" << float_tostring(this->press_abs);
ss << ", \"press_diff\":" << float_tostring(this->press_diff);
ss << ", \"temperature\":" << this->temperature;
ss << ", \"temperature_press_diff\":" << this->temperature_press_diff;
ss << "} },";
return ss.str();
}
int MavLinkAttitude::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->roll), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitch), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->rollspeed), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitchspeed), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->yawspeed), 24);
return 28;
}
int MavLinkAttitude::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->roll), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitch), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->rollspeed), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitchspeed), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->yawspeed), 24);
return 28;
}
std::string MavLinkAttitude::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"ATTITUDE\", \"id\": 30, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"roll\":" << float_tostring(this->roll);
ss << ", \"pitch\":" << float_tostring(this->pitch);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"rollspeed\":" << float_tostring(this->rollspeed);
ss << ", \"pitchspeed\":" << float_tostring(this->pitchspeed);
ss << ", \"yawspeed\":" << float_tostring(this->yawspeed);
ss << "} },";
return ss.str();
}
int MavLinkAttitudeQuaternion::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->q1), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->q2), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->q3), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->q4), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->rollspeed), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitchspeed), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->yawspeed), 28);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->repr_offset_q[0]), 32);
return 48;
}
int MavLinkAttitudeQuaternion::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->q1), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->q2), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->q3), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->q4), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->rollspeed), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitchspeed), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->yawspeed), 28);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->repr_offset_q[0]), 32);
return 48;
}
std::string MavLinkAttitudeQuaternion::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"ATTITUDE_QUATERNION\", \"id\": 31, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"q1\":" << float_tostring(this->q1);
ss << ", \"q2\":" << float_tostring(this->q2);
ss << ", \"q3\":" << float_tostring(this->q3);
ss << ", \"q4\":" << float_tostring(this->q4);
ss << ", \"rollspeed\":" << float_tostring(this->rollspeed);
ss << ", \"pitchspeed\":" << float_tostring(this->pitchspeed);
ss << ", \"yawspeed\":" << float_tostring(this->yawspeed);
ss << ", \"repr_offset_q\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->repr_offset_q[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkLocalPositionNed::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->vx), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->vy), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->vz), 24);
return 28;
}
int MavLinkLocalPositionNed::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->vx), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->vy), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->vz), 24);
return 28;
}
std::string MavLinkLocalPositionNed::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LOCAL_POSITION_NED\", \"id\": 32, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"vx\":" << float_tostring(this->vx);
ss << ", \"vy\":" << float_tostring(this->vy);
ss << ", \"vz\":" << float_tostring(this->vz);
ss << "} },";
return ss.str();
}
int MavLinkGlobalPositionInt::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->alt), 12);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->relative_alt), 16);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vx), 20);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vy), 22);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vz), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->hdg), 26);
return 28;
}
int MavLinkGlobalPositionInt::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->alt), 12);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->relative_alt), 16);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vx), 20);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vy), 22);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vz), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->hdg), 26);
return 28;
}
std::string MavLinkGlobalPositionInt::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GLOBAL_POSITION_INT\", \"id\": 33, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"alt\":" << this->alt;
ss << ", \"relative_alt\":" << this->relative_alt;
ss << ", \"vx\":" << this->vx;
ss << ", \"vy\":" << this->vy;
ss << ", \"vz\":" << this->vz;
ss << ", \"hdg\":" << this->hdg;
ss << "} },";
return ss.str();
}
int MavLinkRcChannelsScaled::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->chan1_scaled), 4);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->chan2_scaled), 6);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->chan3_scaled), 8);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->chan4_scaled), 10);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->chan5_scaled), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->chan6_scaled), 14);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->chan7_scaled), 16);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->chan8_scaled), 18);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->port), 20);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rssi), 21);
return 22;
}
int MavLinkRcChannelsScaled::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->chan1_scaled), 4);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->chan2_scaled), 6);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->chan3_scaled), 8);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->chan4_scaled), 10);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->chan5_scaled), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->chan6_scaled), 14);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->chan7_scaled), 16);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->chan8_scaled), 18);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->port), 20);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rssi), 21);
return 22;
}
std::string MavLinkRcChannelsScaled::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"RC_CHANNELS_SCALED\", \"id\": 34, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"chan1_scaled\":" << this->chan1_scaled;
ss << ", \"chan2_scaled\":" << this->chan2_scaled;
ss << ", \"chan3_scaled\":" << this->chan3_scaled;
ss << ", \"chan4_scaled\":" << this->chan4_scaled;
ss << ", \"chan5_scaled\":" << this->chan5_scaled;
ss << ", \"chan6_scaled\":" << this->chan6_scaled;
ss << ", \"chan7_scaled\":" << this->chan7_scaled;
ss << ", \"chan8_scaled\":" << this->chan8_scaled;
ss << ", \"port\":" << static_cast<unsigned int>(this->port);
ss << ", \"rssi\":" << static_cast<unsigned int>(this->rssi);
ss << "} },";
return ss.str();
}
int MavLinkRcChannelsRaw::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan1_raw), 4);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan2_raw), 6);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan3_raw), 8);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan4_raw), 10);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan5_raw), 12);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan6_raw), 14);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan7_raw), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan8_raw), 18);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->port), 20);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rssi), 21);
return 22;
}
int MavLinkRcChannelsRaw::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan1_raw), 4);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan2_raw), 6);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan3_raw), 8);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan4_raw), 10);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan5_raw), 12);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan6_raw), 14);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan7_raw), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan8_raw), 18);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->port), 20);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rssi), 21);
return 22;
}
std::string MavLinkRcChannelsRaw::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"RC_CHANNELS_RAW\", \"id\": 35, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"chan1_raw\":" << this->chan1_raw;
ss << ", \"chan2_raw\":" << this->chan2_raw;
ss << ", \"chan3_raw\":" << this->chan3_raw;
ss << ", \"chan4_raw\":" << this->chan4_raw;
ss << ", \"chan5_raw\":" << this->chan5_raw;
ss << ", \"chan6_raw\":" << this->chan6_raw;
ss << ", \"chan7_raw\":" << this->chan7_raw;
ss << ", \"chan8_raw\":" << this->chan8_raw;
ss << ", \"port\":" << static_cast<unsigned int>(this->port);
ss << ", \"rssi\":" << static_cast<unsigned int>(this->rssi);
ss << "} },";
return ss.str();
}
int MavLinkServoOutputRaw::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_usec), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo1_raw), 4);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo2_raw), 6);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo3_raw), 8);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo4_raw), 10);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo5_raw), 12);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo6_raw), 14);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo7_raw), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo8_raw), 18);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->port), 20);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo9_raw), 21);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo10_raw), 23);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo11_raw), 25);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo12_raw), 27);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo13_raw), 29);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo14_raw), 31);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo15_raw), 33);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->servo16_raw), 35);
return 37;
}
int MavLinkServoOutputRaw::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_usec), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo1_raw), 4);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo2_raw), 6);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo3_raw), 8);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo4_raw), 10);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo5_raw), 12);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo6_raw), 14);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo7_raw), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo8_raw), 18);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->port), 20);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo9_raw), 21);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo10_raw), 23);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo11_raw), 25);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo12_raw), 27);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo13_raw), 29);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo14_raw), 31);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo15_raw), 33);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->servo16_raw), 35);
return 37;
}
std::string MavLinkServoOutputRaw::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SERVO_OUTPUT_RAW\", \"id\": 36, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"servo1_raw\":" << this->servo1_raw;
ss << ", \"servo2_raw\":" << this->servo2_raw;
ss << ", \"servo3_raw\":" << this->servo3_raw;
ss << ", \"servo4_raw\":" << this->servo4_raw;
ss << ", \"servo5_raw\":" << this->servo5_raw;
ss << ", \"servo6_raw\":" << this->servo6_raw;
ss << ", \"servo7_raw\":" << this->servo7_raw;
ss << ", \"servo8_raw\":" << this->servo8_raw;
ss << ", \"port\":" << static_cast<unsigned int>(this->port);
ss << ", \"servo9_raw\":" << this->servo9_raw;
ss << ", \"servo10_raw\":" << this->servo10_raw;
ss << ", \"servo11_raw\":" << this->servo11_raw;
ss << ", \"servo12_raw\":" << this->servo12_raw;
ss << ", \"servo13_raw\":" << this->servo13_raw;
ss << ", \"servo14_raw\":" << this->servo14_raw;
ss << ", \"servo15_raw\":" << this->servo15_raw;
ss << ", \"servo16_raw\":" << this->servo16_raw;
ss << "} },";
return ss.str();
}
int MavLinkMissionRequestPartialList::pack(char* buffer) const
{
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->start_index), 0);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->end_index), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 5);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 6);
return 7;
}
int MavLinkMissionRequestPartialList::unpack(const char* buffer)
{
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->start_index), 0);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->end_index), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 5);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 6);
return 7;
}
std::string MavLinkMissionRequestPartialList::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_REQUEST_PARTIAL_LIST\", \"id\": 37, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"start_index\":" << this->start_index;
ss << ", \"end_index\":" << this->end_index;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkMissionWritePartialList::pack(char* buffer) const
{
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->start_index), 0);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->end_index), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 5);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 6);
return 7;
}
int MavLinkMissionWritePartialList::unpack(const char* buffer)
{
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->start_index), 0);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->end_index), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 5);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 6);
return 7;
}
std::string MavLinkMissionWritePartialList::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_WRITE_PARTIAL_LIST\", \"id\": 38, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"start_index\":" << this->start_index;
ss << ", \"end_index\":" << this->end_index;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkMissionItem::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->param1), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->param2), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->param3), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->param4), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->seq), 28);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->command), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 33);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->frame), 34);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->current), 35);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->autocontinue), 36);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 37);
return 38;
}
int MavLinkMissionItem::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->param1), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->param2), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->param3), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->param4), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->seq), 28);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->command), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 33);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->frame), 34);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->current), 35);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->autocontinue), 36);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 37);
return 38;
}
std::string MavLinkMissionItem::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_ITEM\", \"id\": 39, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"param1\":" << float_tostring(this->param1);
ss << ", \"param2\":" << float_tostring(this->param2);
ss << ", \"param3\":" << float_tostring(this->param3);
ss << ", \"param4\":" << float_tostring(this->param4);
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"seq\":" << this->seq;
ss << ", \"command\":" << this->command;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"frame\":" << static_cast<unsigned int>(this->frame);
ss << ", \"current\":" << static_cast<unsigned int>(this->current);
ss << ", \"autocontinue\":" << static_cast<unsigned int>(this->autocontinue);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkMissionRequest::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->seq), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 3);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 4);
return 5;
}
int MavLinkMissionRequest::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->seq), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 3);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 4);
return 5;
}
std::string MavLinkMissionRequest::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_REQUEST\", \"id\": 40, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"seq\":" << this->seq;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkMissionSetCurrent::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->seq), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 3);
return 4;
}
int MavLinkMissionSetCurrent::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->seq), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 3);
return 4;
}
std::string MavLinkMissionSetCurrent::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_SET_CURRENT\", \"id\": 41, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"seq\":" << this->seq;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << "} },";
return ss.str();
}
int MavLinkMissionCurrent::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->seq), 0);
return 2;
}
int MavLinkMissionCurrent::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->seq), 0);
return 2;
}
std::string MavLinkMissionCurrent::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_CURRENT\", \"id\": 42, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"seq\":" << this->seq;
ss << "} },";
return ss.str();
}
int MavLinkMissionRequestList::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 1);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 2);
return 3;
}
int MavLinkMissionRequestList::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 1);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 2);
return 3;
}
std::string MavLinkMissionRequestList::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_REQUEST_LIST\", \"id\": 43, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkMissionCount::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->count), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 3);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 4);
return 5;
}
int MavLinkMissionCount::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->count), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 3);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 4);
return 5;
}
std::string MavLinkMissionCount::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_COUNT\", \"id\": 44, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"count\":" << this->count;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkMissionClearAll::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 1);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 2);
return 3;
}
int MavLinkMissionClearAll::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 1);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 2);
return 3;
}
std::string MavLinkMissionClearAll::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_CLEAR_ALL\", \"id\": 45, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkMissionItemReached::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->seq), 0);
return 2;
}
int MavLinkMissionItemReached::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->seq), 0);
return 2;
}
std::string MavLinkMissionItemReached::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_ITEM_REACHED\", \"id\": 46, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"seq\":" << this->seq;
ss << "} },";
return ss.str();
}
int MavLinkMissionAck::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 1);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->type), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 3);
return 4;
}
int MavLinkMissionAck::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 1);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->type), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 3);
return 4;
}
std::string MavLinkMissionAck::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_ACK\", \"id\": 47, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"type\":" << static_cast<unsigned int>(this->type);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkSetGpsGlobalOrigin::pack(char* buffer) const
{
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->latitude), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->longitude), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->altitude), 8);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 12);
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 13);
return 21;
}
int MavLinkSetGpsGlobalOrigin::unpack(const char* buffer)
{
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->latitude), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->longitude), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->altitude), 8);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 12);
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 13);
return 21;
}
std::string MavLinkSetGpsGlobalOrigin::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SET_GPS_GLOBAL_ORIGIN\", \"id\": 48, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"latitude\":" << this->latitude;
ss << ", \"longitude\":" << this->longitude;
ss << ", \"altitude\":" << this->altitude;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"time_usec\":" << this->time_usec;
ss << "} },";
return ss.str();
}
int MavLinkGpsGlobalOrigin::pack(char* buffer) const
{
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->latitude), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->longitude), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->altitude), 8);
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 12);
return 20;
}
int MavLinkGpsGlobalOrigin::unpack(const char* buffer)
{
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->latitude), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->longitude), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->altitude), 8);
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 12);
return 20;
}
std::string MavLinkGpsGlobalOrigin::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GPS_GLOBAL_ORIGIN\", \"id\": 49, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"latitude\":" << this->latitude;
ss << ", \"longitude\":" << this->longitude;
ss << ", \"altitude\":" << this->altitude;
ss << ", \"time_usec\":" << this->time_usec;
ss << "} },";
return ss.str();
}
int MavLinkParamMapRc::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->param_value0), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->scale), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->param_value_min), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->param_value_max), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->param_index), 16);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 18);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 19);
pack_char_array(16, buffer, reinterpret_cast<const char*>(&this->param_id[0]), 20);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->parameter_rc_channel_index), 36);
return 37;
}
int MavLinkParamMapRc::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->param_value0), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->scale), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->param_value_min), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->param_value_max), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->param_index), 16);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 18);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 19);
unpack_char_array(16, buffer, reinterpret_cast<char*>(&this->param_id[0]), 20);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->parameter_rc_channel_index), 36);
return 37;
}
std::string MavLinkParamMapRc::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"PARAM_MAP_RC\", \"id\": 50, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"param_value0\":" << float_tostring(this->param_value0);
ss << ", \"scale\":" << float_tostring(this->scale);
ss << ", \"param_value_min\":" << float_tostring(this->param_value_min);
ss << ", \"param_value_max\":" << float_tostring(this->param_value_max);
ss << ", \"param_index\":" << this->param_index;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"param_id\":"
<< "\"" << char_array_tostring(16, reinterpret_cast<char*>(&this->param_id[0])) << "\"";
ss << ", \"parameter_rc_channel_index\":" << static_cast<unsigned int>(this->parameter_rc_channel_index);
ss << "} },";
return ss.str();
}
int MavLinkMissionRequestInt::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->seq), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 3);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 4);
return 5;
}
int MavLinkMissionRequestInt::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->seq), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 3);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 4);
return 5;
}
std::string MavLinkMissionRequestInt::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_REQUEST_INT\", \"id\": 51, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"seq\":" << this->seq;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkMissionChanged::pack(char* buffer) const
{
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->start_index), 0);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->end_index), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->origin_sysid), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->origin_compid), 5);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 6);
return 7;
}
int MavLinkMissionChanged::unpack(const char* buffer)
{
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->start_index), 0);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->end_index), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->origin_sysid), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->origin_compid), 5);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 6);
return 7;
}
std::string MavLinkMissionChanged::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_CHANGED\", \"id\": 52, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"start_index\":" << this->start_index;
ss << ", \"end_index\":" << this->end_index;
ss << ", \"origin_sysid\":" << static_cast<unsigned int>(this->origin_sysid);
ss << ", \"origin_compid\":" << static_cast<unsigned int>(this->origin_compid);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkSafetySetAllowedArea::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->p1x), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->p1y), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->p1z), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->p2x), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->p2y), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->p2z), 20);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 24);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 25);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->frame), 26);
return 27;
}
int MavLinkSafetySetAllowedArea::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->p1x), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->p1y), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->p1z), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->p2x), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->p2y), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->p2z), 20);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 24);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 25);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->frame), 26);
return 27;
}
std::string MavLinkSafetySetAllowedArea::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SAFETY_SET_ALLOWED_AREA\", \"id\": 54, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"p1x\":" << float_tostring(this->p1x);
ss << ", \"p1y\":" << float_tostring(this->p1y);
ss << ", \"p1z\":" << float_tostring(this->p1z);
ss << ", \"p2x\":" << float_tostring(this->p2x);
ss << ", \"p2y\":" << float_tostring(this->p2y);
ss << ", \"p2z\":" << float_tostring(this->p2z);
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"frame\":" << static_cast<unsigned int>(this->frame);
ss << "} },";
return ss.str();
}
int MavLinkSafetyAllowedArea::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->p1x), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->p1y), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->p1z), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->p2x), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->p2y), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->p2z), 20);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->frame), 24);
return 25;
}
int MavLinkSafetyAllowedArea::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->p1x), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->p1y), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->p1z), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->p2x), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->p2y), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->p2z), 20);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->frame), 24);
return 25;
}
std::string MavLinkSafetyAllowedArea::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SAFETY_ALLOWED_AREA\", \"id\": 55, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"p1x\":" << float_tostring(this->p1x);
ss << ", \"p1y\":" << float_tostring(this->p1y);
ss << ", \"p1z\":" << float_tostring(this->p1z);
ss << ", \"p2x\":" << float_tostring(this->p2x);
ss << ", \"p2y\":" << float_tostring(this->p2y);
ss << ", \"p2z\":" << float_tostring(this->p2z);
ss << ", \"frame\":" << static_cast<unsigned int>(this->frame);
ss << "} },";
return ss.str();
}
int MavLinkAttitudeQuaternionCov::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->q[0]), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->rollspeed), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitchspeed), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->yawspeed), 32);
pack_float_array(9, buffer, reinterpret_cast<const float*>(&this->covariance[0]), 36);
return 72;
}
int MavLinkAttitudeQuaternionCov::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->q[0]), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->rollspeed), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitchspeed), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->yawspeed), 32);
unpack_float_array(9, buffer, reinterpret_cast<float*>(&this->covariance[0]), 36);
return 72;
}
std::string MavLinkAttitudeQuaternionCov::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"ATTITUDE_QUATERNION_COV\", \"id\": 61, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"q\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->q[0])) << "]";
ss << ", \"rollspeed\":" << float_tostring(this->rollspeed);
ss << ", \"pitchspeed\":" << float_tostring(this->pitchspeed);
ss << ", \"yawspeed\":" << float_tostring(this->yawspeed);
ss << ", \"covariance\":"
<< "[" << float_array_tostring(9, reinterpret_cast<float*>(&this->covariance[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkNavControllerOutput::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->nav_roll), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->nav_pitch), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->alt_error), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->aspd_error), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->xtrack_error), 16);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->nav_bearing), 20);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->target_bearing), 22);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->wp_dist), 24);
return 26;
}
int MavLinkNavControllerOutput::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->nav_roll), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->nav_pitch), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->alt_error), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->aspd_error), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->xtrack_error), 16);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->nav_bearing), 20);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->target_bearing), 22);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->wp_dist), 24);
return 26;
}
std::string MavLinkNavControllerOutput::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"NAV_CONTROLLER_OUTPUT\", \"id\": 62, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"nav_roll\":" << float_tostring(this->nav_roll);
ss << ", \"nav_pitch\":" << float_tostring(this->nav_pitch);
ss << ", \"alt_error\":" << float_tostring(this->alt_error);
ss << ", \"aspd_error\":" << float_tostring(this->aspd_error);
ss << ", \"xtrack_error\":" << float_tostring(this->xtrack_error);
ss << ", \"nav_bearing\":" << this->nav_bearing;
ss << ", \"target_bearing\":" << this->target_bearing;
ss << ", \"wp_dist\":" << this->wp_dist;
ss << "} },";
return ss.str();
}
int MavLinkGlobalPositionIntCov::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 12);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->alt), 16);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->relative_alt), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->vx), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->vy), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->vz), 32);
pack_float_array(36, buffer, reinterpret_cast<const float*>(&this->covariance[0]), 36);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->estimator_type), 180);
return 181;
}
int MavLinkGlobalPositionIntCov::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 12);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->alt), 16);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->relative_alt), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->vx), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->vy), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->vz), 32);
unpack_float_array(36, buffer, reinterpret_cast<float*>(&this->covariance[0]), 36);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->estimator_type), 180);
return 181;
}
std::string MavLinkGlobalPositionIntCov::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GLOBAL_POSITION_INT_COV\", \"id\": 63, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"alt\":" << this->alt;
ss << ", \"relative_alt\":" << this->relative_alt;
ss << ", \"vx\":" << float_tostring(this->vx);
ss << ", \"vy\":" << float_tostring(this->vy);
ss << ", \"vz\":" << float_tostring(this->vz);
ss << ", \"covariance\":"
<< "[" << float_array_tostring(36, reinterpret_cast<float*>(&this->covariance[0])) << "]";
ss << ", \"estimator_type\":" << static_cast<unsigned int>(this->estimator_type);
ss << "} },";
return ss.str();
}
int MavLinkLocalPositionNedCov::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->vx), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->vy), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->vz), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->ax), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->ay), 36);
pack_float(buffer, reinterpret_cast<const float*>(&this->az), 40);
pack_float_array(45, buffer, reinterpret_cast<const float*>(&this->covariance[0]), 44);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->estimator_type), 224);
return 225;
}
int MavLinkLocalPositionNedCov::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->vx), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->vy), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->vz), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->ax), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->ay), 36);
unpack_float(buffer, reinterpret_cast<float*>(&this->az), 40);
unpack_float_array(45, buffer, reinterpret_cast<float*>(&this->covariance[0]), 44);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->estimator_type), 224);
return 225;
}
std::string MavLinkLocalPositionNedCov::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LOCAL_POSITION_NED_COV\", \"id\": 64, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"vx\":" << float_tostring(this->vx);
ss << ", \"vy\":" << float_tostring(this->vy);
ss << ", \"vz\":" << float_tostring(this->vz);
ss << ", \"ax\":" << float_tostring(this->ax);
ss << ", \"ay\":" << float_tostring(this->ay);
ss << ", \"az\":" << float_tostring(this->az);
ss << ", \"covariance\":"
<< "[" << float_array_tostring(45, reinterpret_cast<float*>(&this->covariance[0])) << "]";
ss << ", \"estimator_type\":" << static_cast<unsigned int>(this->estimator_type);
ss << "} },";
return ss.str();
}
int MavLinkRcChannels::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan1_raw), 4);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan2_raw), 6);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan3_raw), 8);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan4_raw), 10);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan5_raw), 12);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan6_raw), 14);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan7_raw), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan8_raw), 18);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan9_raw), 20);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan10_raw), 22);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan11_raw), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan12_raw), 26);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan13_raw), 28);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan14_raw), 30);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan15_raw), 32);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan16_raw), 34);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan17_raw), 36);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan18_raw), 38);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->chancount), 40);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rssi), 41);
return 42;
}
int MavLinkRcChannels::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan1_raw), 4);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan2_raw), 6);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan3_raw), 8);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan4_raw), 10);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan5_raw), 12);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan6_raw), 14);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan7_raw), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan8_raw), 18);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan9_raw), 20);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan10_raw), 22);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan11_raw), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan12_raw), 26);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan13_raw), 28);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan14_raw), 30);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan15_raw), 32);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan16_raw), 34);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan17_raw), 36);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan18_raw), 38);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->chancount), 40);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rssi), 41);
return 42;
}
std::string MavLinkRcChannels::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"RC_CHANNELS\", \"id\": 65, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"chan1_raw\":" << this->chan1_raw;
ss << ", \"chan2_raw\":" << this->chan2_raw;
ss << ", \"chan3_raw\":" << this->chan3_raw;
ss << ", \"chan4_raw\":" << this->chan4_raw;
ss << ", \"chan5_raw\":" << this->chan5_raw;
ss << ", \"chan6_raw\":" << this->chan6_raw;
ss << ", \"chan7_raw\":" << this->chan7_raw;
ss << ", \"chan8_raw\":" << this->chan8_raw;
ss << ", \"chan9_raw\":" << this->chan9_raw;
ss << ", \"chan10_raw\":" << this->chan10_raw;
ss << ", \"chan11_raw\":" << this->chan11_raw;
ss << ", \"chan12_raw\":" << this->chan12_raw;
ss << ", \"chan13_raw\":" << this->chan13_raw;
ss << ", \"chan14_raw\":" << this->chan14_raw;
ss << ", \"chan15_raw\":" << this->chan15_raw;
ss << ", \"chan16_raw\":" << this->chan16_raw;
ss << ", \"chan17_raw\":" << this->chan17_raw;
ss << ", \"chan18_raw\":" << this->chan18_raw;
ss << ", \"chancount\":" << static_cast<unsigned int>(this->chancount);
ss << ", \"rssi\":" << static_cast<unsigned int>(this->rssi);
ss << "} },";
return ss.str();
}
int MavLinkRequestDataStream::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->req_message_rate), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 3);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->req_stream_id), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->start_stop), 5);
return 6;
}
int MavLinkRequestDataStream::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->req_message_rate), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 3);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->req_stream_id), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->start_stop), 5);
return 6;
}
std::string MavLinkRequestDataStream::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"REQUEST_DATA_STREAM\", \"id\": 66, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"req_message_rate\":" << this->req_message_rate;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"req_stream_id\":" << static_cast<unsigned int>(this->req_stream_id);
ss << ", \"start_stop\":" << static_cast<unsigned int>(this->start_stop);
ss << "} },";
return ss.str();
}
int MavLinkDataStream::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->message_rate), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->stream_id), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->on_off), 3);
return 4;
}
int MavLinkDataStream::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->message_rate), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->stream_id), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->on_off), 3);
return 4;
}
std::string MavLinkDataStream::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"DATA_STREAM\", \"id\": 67, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"message_rate\":" << this->message_rate;
ss << ", \"stream_id\":" << static_cast<unsigned int>(this->stream_id);
ss << ", \"on_off\":" << static_cast<unsigned int>(this->on_off);
ss << "} },";
return ss.str();
}
int MavLinkManualControl::pack(char* buffer) const
{
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->x), 0);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->y), 2);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->z), 4);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->r), 6);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->buttons), 8);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target), 10);
return 11;
}
int MavLinkManualControl::unpack(const char* buffer)
{
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->x), 0);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->y), 2);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->z), 4);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->r), 6);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->buttons), 8);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target), 10);
return 11;
}
std::string MavLinkManualControl::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MANUAL_CONTROL\", \"id\": 69, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"x\":" << this->x;
ss << ", \"y\":" << this->y;
ss << ", \"z\":" << this->z;
ss << ", \"r\":" << this->r;
ss << ", \"buttons\":" << this->buttons;
ss << ", \"target\":" << static_cast<unsigned int>(this->target);
ss << "} },";
return ss.str();
}
int MavLinkRcChannelsOverride::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan1_raw), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan2_raw), 2);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan3_raw), 4);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan4_raw), 6);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan5_raw), 8);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan6_raw), 10);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan7_raw), 12);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan8_raw), 14);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 16);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 17);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan9_raw), 18);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan10_raw), 20);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan11_raw), 22);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan12_raw), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan13_raw), 26);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan14_raw), 28);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan15_raw), 30);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan16_raw), 32);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan17_raw), 34);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan18_raw), 36);
return 38;
}
int MavLinkRcChannelsOverride::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan1_raw), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan2_raw), 2);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan3_raw), 4);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan4_raw), 6);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan5_raw), 8);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan6_raw), 10);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan7_raw), 12);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan8_raw), 14);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 16);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 17);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan9_raw), 18);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan10_raw), 20);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan11_raw), 22);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan12_raw), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan13_raw), 26);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan14_raw), 28);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan15_raw), 30);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan16_raw), 32);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan17_raw), 34);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan18_raw), 36);
return 38;
}
std::string MavLinkRcChannelsOverride::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"RC_CHANNELS_OVERRIDE\", \"id\": 70, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"chan1_raw\":" << this->chan1_raw;
ss << ", \"chan2_raw\":" << this->chan2_raw;
ss << ", \"chan3_raw\":" << this->chan3_raw;
ss << ", \"chan4_raw\":" << this->chan4_raw;
ss << ", \"chan5_raw\":" << this->chan5_raw;
ss << ", \"chan6_raw\":" << this->chan6_raw;
ss << ", \"chan7_raw\":" << this->chan7_raw;
ss << ", \"chan8_raw\":" << this->chan8_raw;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"chan9_raw\":" << this->chan9_raw;
ss << ", \"chan10_raw\":" << this->chan10_raw;
ss << ", \"chan11_raw\":" << this->chan11_raw;
ss << ", \"chan12_raw\":" << this->chan12_raw;
ss << ", \"chan13_raw\":" << this->chan13_raw;
ss << ", \"chan14_raw\":" << this->chan14_raw;
ss << ", \"chan15_raw\":" << this->chan15_raw;
ss << ", \"chan16_raw\":" << this->chan16_raw;
ss << ", \"chan17_raw\":" << this->chan17_raw;
ss << ", \"chan18_raw\":" << this->chan18_raw;
ss << "} },";
return ss.str();
}
int MavLinkMissionItemInt::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->param1), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->param2), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->param3), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->param4), 12);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->x), 16);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->y), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->seq), 28);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->command), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 33);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->frame), 34);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->current), 35);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->autocontinue), 36);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mission_type), 37);
return 38;
}
int MavLinkMissionItemInt::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->param1), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->param2), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->param3), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->param4), 12);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->x), 16);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->y), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->seq), 28);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->command), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 33);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->frame), 34);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->current), 35);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->autocontinue), 36);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mission_type), 37);
return 38;
}
std::string MavLinkMissionItemInt::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MISSION_ITEM_INT\", \"id\": 73, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"param1\":" << float_tostring(this->param1);
ss << ", \"param2\":" << float_tostring(this->param2);
ss << ", \"param3\":" << float_tostring(this->param3);
ss << ", \"param4\":" << float_tostring(this->param4);
ss << ", \"x\":" << this->x;
ss << ", \"y\":" << this->y;
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"seq\":" << this->seq;
ss << ", \"command\":" << this->command;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"frame\":" << static_cast<unsigned int>(this->frame);
ss << ", \"current\":" << static_cast<unsigned int>(this->current);
ss << ", \"autocontinue\":" << static_cast<unsigned int>(this->autocontinue);
ss << ", \"mission_type\":" << static_cast<unsigned int>(this->mission_type);
ss << "} },";
return ss.str();
}
int MavLinkVfrHud::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->airspeed), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->groundspeed), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->alt), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->climb), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->heading), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->throttle), 18);
return 20;
}
int MavLinkVfrHud::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->airspeed), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->groundspeed), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->alt), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->climb), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->heading), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->throttle), 18);
return 20;
}
std::string MavLinkVfrHud::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"VFR_HUD\", \"id\": 74, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"airspeed\":" << float_tostring(this->airspeed);
ss << ", \"groundspeed\":" << float_tostring(this->groundspeed);
ss << ", \"alt\":" << float_tostring(this->alt);
ss << ", \"climb\":" << float_tostring(this->climb);
ss << ", \"heading\":" << this->heading;
ss << ", \"throttle\":" << this->throttle;
ss << "} },";
return ss.str();
}
int MavLinkCommandInt::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->param1), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->param2), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->param3), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->param4), 12);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->x), 16);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->y), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->command), 28);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 31);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->frame), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->current), 33);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->autocontinue), 34);
return 35;
}
int MavLinkCommandInt::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->param1), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->param2), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->param3), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->param4), 12);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->x), 16);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->y), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->command), 28);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 31);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->frame), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->current), 33);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->autocontinue), 34);
return 35;
}
std::string MavLinkCommandInt::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"COMMAND_INT\", \"id\": 75, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"param1\":" << float_tostring(this->param1);
ss << ", \"param2\":" << float_tostring(this->param2);
ss << ", \"param3\":" << float_tostring(this->param3);
ss << ", \"param4\":" << float_tostring(this->param4);
ss << ", \"x\":" << this->x;
ss << ", \"y\":" << this->y;
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"command\":" << this->command;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"frame\":" << static_cast<unsigned int>(this->frame);
ss << ", \"current\":" << static_cast<unsigned int>(this->current);
ss << ", \"autocontinue\":" << static_cast<unsigned int>(this->autocontinue);
ss << "} },";
return ss.str();
}
int MavLinkCommandLong::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->param1), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->param2), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->param3), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->param4), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->param5), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->param6), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->param7), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->command), 28);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 31);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->confirmation), 32);
return 33;
}
int MavLinkCommandLong::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->param1), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->param2), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->param3), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->param4), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->param5), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->param6), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->param7), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->command), 28);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 31);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->confirmation), 32);
return 33;
}
std::string MavLinkCommandLong::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"COMMAND_LONG\", \"id\": 76, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"param1\":" << float_tostring(this->param1);
ss << ", \"param2\":" << float_tostring(this->param2);
ss << ", \"param3\":" << float_tostring(this->param3);
ss << ", \"param4\":" << float_tostring(this->param4);
ss << ", \"param5\":" << float_tostring(this->param5);
ss << ", \"param6\":" << float_tostring(this->param6);
ss << ", \"param7\":" << float_tostring(this->param7);
ss << ", \"command\":" << this->command;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"confirmation\":" << static_cast<unsigned int>(this->confirmation);
ss << "} },";
return ss.str();
}
int MavLinkCommandAck::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->command), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->result), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->progress), 3);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->result_param2), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 8);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 9);
return 10;
}
int MavLinkCommandAck::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->command), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->result), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->progress), 3);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->result_param2), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 8);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 9);
return 10;
}
std::string MavLinkCommandAck::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"COMMAND_ACK\", \"id\": 77, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"command\":" << this->command;
ss << ", \"result\":" << static_cast<unsigned int>(this->result);
ss << ", \"progress\":" << static_cast<unsigned int>(this->progress);
ss << ", \"result_param2\":" << this->result_param2;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << "} },";
return ss.str();
}
int MavLinkCommandCancel::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->command), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 3);
return 4;
}
int MavLinkCommandCancel::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->command), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 3);
return 4;
}
std::string MavLinkCommandCancel::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"COMMAND_CANCEL\", \"id\": 80, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"command\":" << this->command;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << "} },";
return ss.str();
}
int MavLinkManualSetpoint::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->roll), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitch), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->thrust), 16);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mode_switch), 20);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->manual_override_switch), 21);
return 22;
}
int MavLinkManualSetpoint::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->roll), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitch), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->thrust), 16);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mode_switch), 20);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->manual_override_switch), 21);
return 22;
}
std::string MavLinkManualSetpoint::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MANUAL_SETPOINT\", \"id\": 81, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"roll\":" << float_tostring(this->roll);
ss << ", \"pitch\":" << float_tostring(this->pitch);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"thrust\":" << float_tostring(this->thrust);
ss << ", \"mode_switch\":" << static_cast<unsigned int>(this->mode_switch);
ss << ", \"manual_override_switch\":" << static_cast<unsigned int>(this->manual_override_switch);
ss << "} },";
return ss.str();
}
int MavLinkSetAttitudeTarget::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->q[0]), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->body_roll_rate), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->body_pitch_rate), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->body_yaw_rate), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->thrust), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 36);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 37);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->type_mask), 38);
return 39;
}
int MavLinkSetAttitudeTarget::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->q[0]), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->body_roll_rate), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->body_pitch_rate), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->body_yaw_rate), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->thrust), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 36);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 37);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->type_mask), 38);
return 39;
}
std::string MavLinkSetAttitudeTarget::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SET_ATTITUDE_TARGET\", \"id\": 82, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"q\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->q[0])) << "]";
ss << ", \"body_roll_rate\":" << float_tostring(this->body_roll_rate);
ss << ", \"body_pitch_rate\":" << float_tostring(this->body_pitch_rate);
ss << ", \"body_yaw_rate\":" << float_tostring(this->body_yaw_rate);
ss << ", \"thrust\":" << float_tostring(this->thrust);
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"type_mask\":" << static_cast<unsigned int>(this->type_mask);
ss << "} },";
return ss.str();
}
int MavLinkAttitudeTarget::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->q[0]), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->body_roll_rate), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->body_pitch_rate), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->body_yaw_rate), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->thrust), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->type_mask), 36);
return 37;
}
int MavLinkAttitudeTarget::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->q[0]), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->body_roll_rate), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->body_pitch_rate), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->body_yaw_rate), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->thrust), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->type_mask), 36);
return 37;
}
std::string MavLinkAttitudeTarget::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"ATTITUDE_TARGET\", \"id\": 83, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"q\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->q[0])) << "]";
ss << ", \"body_roll_rate\":" << float_tostring(this->body_roll_rate);
ss << ", \"body_pitch_rate\":" << float_tostring(this->body_pitch_rate);
ss << ", \"body_yaw_rate\":" << float_tostring(this->body_yaw_rate);
ss << ", \"thrust\":" << float_tostring(this->thrust);
ss << ", \"type_mask\":" << static_cast<unsigned int>(this->type_mask);
ss << "} },";
return ss.str();
}
int MavLinkSetPositionTargetLocalNed::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->vx), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->vy), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->vz), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->afx), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->afy), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->afz), 36);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw_rate), 44);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->type_mask), 48);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 50);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 51);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->coordinate_frame), 52);
return 53;
}
int MavLinkSetPositionTargetLocalNed::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->vx), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->vy), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->vz), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->afx), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->afy), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->afz), 36);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw_rate), 44);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->type_mask), 48);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 50);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 51);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->coordinate_frame), 52);
return 53;
}
std::string MavLinkSetPositionTargetLocalNed::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SET_POSITION_TARGET_LOCAL_NED\", \"id\": 84, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"vx\":" << float_tostring(this->vx);
ss << ", \"vy\":" << float_tostring(this->vy);
ss << ", \"vz\":" << float_tostring(this->vz);
ss << ", \"afx\":" << float_tostring(this->afx);
ss << ", \"afy\":" << float_tostring(this->afy);
ss << ", \"afz\":" << float_tostring(this->afz);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"yaw_rate\":" << float_tostring(this->yaw_rate);
ss << ", \"type_mask\":" << this->type_mask;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"coordinate_frame\":" << static_cast<unsigned int>(this->coordinate_frame);
ss << "} },";
return ss.str();
}
int MavLinkPositionTargetLocalNed::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->vx), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->vy), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->vz), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->afx), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->afy), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->afz), 36);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw_rate), 44);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->type_mask), 48);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->coordinate_frame), 50);
return 51;
}
int MavLinkPositionTargetLocalNed::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->vx), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->vy), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->vz), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->afx), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->afy), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->afz), 36);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw_rate), 44);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->type_mask), 48);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->coordinate_frame), 50);
return 51;
}
std::string MavLinkPositionTargetLocalNed::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"POSITION_TARGET_LOCAL_NED\", \"id\": 85, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"vx\":" << float_tostring(this->vx);
ss << ", \"vy\":" << float_tostring(this->vy);
ss << ", \"vz\":" << float_tostring(this->vz);
ss << ", \"afx\":" << float_tostring(this->afx);
ss << ", \"afy\":" << float_tostring(this->afy);
ss << ", \"afz\":" << float_tostring(this->afz);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"yaw_rate\":" << float_tostring(this->yaw_rate);
ss << ", \"type_mask\":" << this->type_mask;
ss << ", \"coordinate_frame\":" << static_cast<unsigned int>(this->coordinate_frame);
ss << "} },";
return ss.str();
}
int MavLinkSetPositionTargetGlobalInt::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat_int), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon_int), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->alt), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->vx), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->vy), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->vz), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->afx), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->afy), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->afz), 36);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw_rate), 44);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->type_mask), 48);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 50);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 51);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->coordinate_frame), 52);
return 53;
}
int MavLinkSetPositionTargetGlobalInt::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat_int), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon_int), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->alt), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->vx), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->vy), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->vz), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->afx), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->afy), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->afz), 36);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw_rate), 44);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->type_mask), 48);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 50);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 51);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->coordinate_frame), 52);
return 53;
}
std::string MavLinkSetPositionTargetGlobalInt::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SET_POSITION_TARGET_GLOBAL_INT\", \"id\": 86, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"lat_int\":" << this->lat_int;
ss << ", \"lon_int\":" << this->lon_int;
ss << ", \"alt\":" << float_tostring(this->alt);
ss << ", \"vx\":" << float_tostring(this->vx);
ss << ", \"vy\":" << float_tostring(this->vy);
ss << ", \"vz\":" << float_tostring(this->vz);
ss << ", \"afx\":" << float_tostring(this->afx);
ss << ", \"afy\":" << float_tostring(this->afy);
ss << ", \"afz\":" << float_tostring(this->afz);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"yaw_rate\":" << float_tostring(this->yaw_rate);
ss << ", \"type_mask\":" << this->type_mask;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"coordinate_frame\":" << static_cast<unsigned int>(this->coordinate_frame);
ss << "} },";
return ss.str();
}
int MavLinkPositionTargetGlobalInt::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat_int), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon_int), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->alt), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->vx), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->vy), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->vz), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->afx), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->afy), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->afz), 36);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw_rate), 44);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->type_mask), 48);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->coordinate_frame), 50);
return 51;
}
int MavLinkPositionTargetGlobalInt::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat_int), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon_int), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->alt), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->vx), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->vy), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->vz), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->afx), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->afy), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->afz), 36);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw_rate), 44);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->type_mask), 48);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->coordinate_frame), 50);
return 51;
}
std::string MavLinkPositionTargetGlobalInt::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"POSITION_TARGET_GLOBAL_INT\", \"id\": 87, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"lat_int\":" << this->lat_int;
ss << ", \"lon_int\":" << this->lon_int;
ss << ", \"alt\":" << float_tostring(this->alt);
ss << ", \"vx\":" << float_tostring(this->vx);
ss << ", \"vy\":" << float_tostring(this->vy);
ss << ", \"vz\":" << float_tostring(this->vz);
ss << ", \"afx\":" << float_tostring(this->afx);
ss << ", \"afy\":" << float_tostring(this->afy);
ss << ", \"afz\":" << float_tostring(this->afz);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"yaw_rate\":" << float_tostring(this->yaw_rate);
ss << ", \"type_mask\":" << this->type_mask;
ss << ", \"coordinate_frame\":" << static_cast<unsigned int>(this->coordinate_frame);
ss << "} },";
return ss.str();
}
int MavLinkLocalPositionNedSystemGlobalOffset::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->roll), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitch), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 24);
return 28;
}
int MavLinkLocalPositionNedSystemGlobalOffset::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->roll), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitch), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 24);
return 28;
}
std::string MavLinkLocalPositionNedSystemGlobalOffset::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET\", \"id\": 89, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"roll\":" << float_tostring(this->roll);
ss << ", \"pitch\":" << float_tostring(this->pitch);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << "} },";
return ss.str();
}
int MavLinkHilState::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->roll), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitch), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->rollspeed), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitchspeed), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->yawspeed), 28);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 32);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 36);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->alt), 40);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vx), 44);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vy), 46);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vz), 48);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xacc), 50);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->yacc), 52);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zacc), 54);
return 56;
}
int MavLinkHilState::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->roll), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitch), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->rollspeed), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitchspeed), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->yawspeed), 28);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 32);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 36);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->alt), 40);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vx), 44);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vy), 46);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vz), 48);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xacc), 50);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->yacc), 52);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zacc), 54);
return 56;
}
std::string MavLinkHilState::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIL_STATE\", \"id\": 90, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"roll\":" << float_tostring(this->roll);
ss << ", \"pitch\":" << float_tostring(this->pitch);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"rollspeed\":" << float_tostring(this->rollspeed);
ss << ", \"pitchspeed\":" << float_tostring(this->pitchspeed);
ss << ", \"yawspeed\":" << float_tostring(this->yawspeed);
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"alt\":" << this->alt;
ss << ", \"vx\":" << this->vx;
ss << ", \"vy\":" << this->vy;
ss << ", \"vz\":" << this->vz;
ss << ", \"xacc\":" << this->xacc;
ss << ", \"yacc\":" << this->yacc;
ss << ", \"zacc\":" << this->zacc;
ss << "} },";
return ss.str();
}
int MavLinkHilControls::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->roll_ailerons), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitch_elevator), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw_rudder), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->throttle), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->aux1), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->aux2), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->aux3), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->aux4), 36);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mode), 40);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->nav_mode), 41);
return 42;
}
int MavLinkHilControls::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->roll_ailerons), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitch_elevator), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw_rudder), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->throttle), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->aux1), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->aux2), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->aux3), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->aux4), 36);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mode), 40);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->nav_mode), 41);
return 42;
}
std::string MavLinkHilControls::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIL_CONTROLS\", \"id\": 91, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"roll_ailerons\":" << float_tostring(this->roll_ailerons);
ss << ", \"pitch_elevator\":" << float_tostring(this->pitch_elevator);
ss << ", \"yaw_rudder\":" << float_tostring(this->yaw_rudder);
ss << ", \"throttle\":" << float_tostring(this->throttle);
ss << ", \"aux1\":" << float_tostring(this->aux1);
ss << ", \"aux2\":" << float_tostring(this->aux2);
ss << ", \"aux3\":" << float_tostring(this->aux3);
ss << ", \"aux4\":" << float_tostring(this->aux4);
ss << ", \"mode\":" << static_cast<unsigned int>(this->mode);
ss << ", \"nav_mode\":" << static_cast<unsigned int>(this->nav_mode);
ss << "} },";
return ss.str();
}
int MavLinkHilRcInputsRaw::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan1_raw), 8);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan2_raw), 10);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan3_raw), 12);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan4_raw), 14);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan5_raw), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan6_raw), 18);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan7_raw), 20);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan8_raw), 22);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan9_raw), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan10_raw), 26);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan11_raw), 28);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->chan12_raw), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rssi), 32);
return 33;
}
int MavLinkHilRcInputsRaw::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan1_raw), 8);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan2_raw), 10);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan3_raw), 12);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan4_raw), 14);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan5_raw), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan6_raw), 18);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan7_raw), 20);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan8_raw), 22);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan9_raw), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan10_raw), 26);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan11_raw), 28);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->chan12_raw), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rssi), 32);
return 33;
}
std::string MavLinkHilRcInputsRaw::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIL_RC_INPUTS_RAW\", \"id\": 92, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"chan1_raw\":" << this->chan1_raw;
ss << ", \"chan2_raw\":" << this->chan2_raw;
ss << ", \"chan3_raw\":" << this->chan3_raw;
ss << ", \"chan4_raw\":" << this->chan4_raw;
ss << ", \"chan5_raw\":" << this->chan5_raw;
ss << ", \"chan6_raw\":" << this->chan6_raw;
ss << ", \"chan7_raw\":" << this->chan7_raw;
ss << ", \"chan8_raw\":" << this->chan8_raw;
ss << ", \"chan9_raw\":" << this->chan9_raw;
ss << ", \"chan10_raw\":" << this->chan10_raw;
ss << ", \"chan11_raw\":" << this->chan11_raw;
ss << ", \"chan12_raw\":" << this->chan12_raw;
ss << ", \"rssi\":" << static_cast<unsigned int>(this->rssi);
ss << "} },";
return ss.str();
}
int MavLinkHilActuatorControls::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->flags), 8);
pack_float_array(16, buffer, reinterpret_cast<const float*>(&this->controls[0]), 16);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->mode), 80);
return 81;
}
int MavLinkHilActuatorControls::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->flags), 8);
unpack_float_array(16, buffer, reinterpret_cast<float*>(&this->controls[0]), 16);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->mode), 80);
return 81;
}
std::string MavLinkHilActuatorControls::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIL_ACTUATOR_CONTROLS\", \"id\": 93, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"flags\":" << this->flags;
ss << ", \"controls\":"
<< "[" << float_array_tostring(16, reinterpret_cast<float*>(&this->controls[0])) << "]";
ss << ", \"mode\":" << static_cast<unsigned int>(this->mode);
ss << "} },";
return ss.str();
}
int MavLinkOpticalFlow::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->flow_comp_m_x), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->flow_comp_m_y), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->ground_distance), 16);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->flow_x), 20);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->flow_y), 22);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->sensor_id), 24);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->quality), 25);
pack_float(buffer, reinterpret_cast<const float*>(&this->flow_rate_x), 26);
pack_float(buffer, reinterpret_cast<const float*>(&this->flow_rate_y), 30);
return 34;
}
int MavLinkOpticalFlow::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->flow_comp_m_x), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->flow_comp_m_y), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->ground_distance), 16);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->flow_x), 20);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->flow_y), 22);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->sensor_id), 24);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->quality), 25);
unpack_float(buffer, reinterpret_cast<float*>(&this->flow_rate_x), 26);
unpack_float(buffer, reinterpret_cast<float*>(&this->flow_rate_y), 30);
return 34;
}
std::string MavLinkOpticalFlow::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"OPTICAL_FLOW\", \"id\": 100, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"flow_comp_m_x\":" << float_tostring(this->flow_comp_m_x);
ss << ", \"flow_comp_m_y\":" << float_tostring(this->flow_comp_m_y);
ss << ", \"ground_distance\":" << float_tostring(this->ground_distance);
ss << ", \"flow_x\":" << this->flow_x;
ss << ", \"flow_y\":" << this->flow_y;
ss << ", \"sensor_id\":" << static_cast<unsigned int>(this->sensor_id);
ss << ", \"quality\":" << static_cast<unsigned int>(this->quality);
ss << ", \"flow_rate_x\":" << float_tostring(this->flow_rate_x);
ss << ", \"flow_rate_y\":" << float_tostring(this->flow_rate_y);
ss << "} },";
return ss.str();
}
int MavLinkGlobalVisionPositionEstimate::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->roll), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitch), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 28);
pack_float_array(21, buffer, reinterpret_cast<const float*>(&this->covariance[0]), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->reset_counter), 116);
return 117;
}
int MavLinkGlobalVisionPositionEstimate::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->roll), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitch), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 28);
unpack_float_array(21, buffer, reinterpret_cast<float*>(&this->covariance[0]), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->reset_counter), 116);
return 117;
}
std::string MavLinkGlobalVisionPositionEstimate::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GLOBAL_VISION_POSITION_ESTIMATE\", \"id\": 101, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"usec\":" << this->usec;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"roll\":" << float_tostring(this->roll);
ss << ", \"pitch\":" << float_tostring(this->pitch);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"covariance\":"
<< "[" << float_array_tostring(21, reinterpret_cast<float*>(&this->covariance[0])) << "]";
ss << ", \"reset_counter\":" << static_cast<unsigned int>(this->reset_counter);
ss << "} },";
return ss.str();
}
int MavLinkVisionPositionEstimate::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->roll), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitch), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 28);
pack_float_array(21, buffer, reinterpret_cast<const float*>(&this->covariance[0]), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->reset_counter), 116);
return 117;
}
int MavLinkVisionPositionEstimate::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->roll), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitch), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 28);
unpack_float_array(21, buffer, reinterpret_cast<float*>(&this->covariance[0]), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->reset_counter), 116);
return 117;
}
std::string MavLinkVisionPositionEstimate::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"VISION_POSITION_ESTIMATE\", \"id\": 102, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"usec\":" << this->usec;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"roll\":" << float_tostring(this->roll);
ss << ", \"pitch\":" << float_tostring(this->pitch);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"covariance\":"
<< "[" << float_array_tostring(21, reinterpret_cast<float*>(&this->covariance[0])) << "]";
ss << ", \"reset_counter\":" << static_cast<unsigned int>(this->reset_counter);
ss << "} },";
return ss.str();
}
int MavLinkVisionSpeedEstimate::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 16);
pack_float_array(9, buffer, reinterpret_cast<const float*>(&this->covariance[0]), 20);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->reset_counter), 56);
return 57;
}
int MavLinkVisionSpeedEstimate::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 16);
unpack_float_array(9, buffer, reinterpret_cast<float*>(&this->covariance[0]), 20);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->reset_counter), 56);
return 57;
}
std::string MavLinkVisionSpeedEstimate::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"VISION_SPEED_ESTIMATE\", \"id\": 103, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"usec\":" << this->usec;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"covariance\":"
<< "[" << float_array_tostring(9, reinterpret_cast<float*>(&this->covariance[0])) << "]";
ss << ", \"reset_counter\":" << static_cast<unsigned int>(this->reset_counter);
ss << "} },";
return ss.str();
}
int MavLinkViconPositionEstimate::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->roll), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitch), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 28);
pack_float_array(21, buffer, reinterpret_cast<const float*>(&this->covariance[0]), 32);
return 116;
}
int MavLinkViconPositionEstimate::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->roll), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitch), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 28);
unpack_float_array(21, buffer, reinterpret_cast<float*>(&this->covariance[0]), 32);
return 116;
}
std::string MavLinkViconPositionEstimate::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"VICON_POSITION_ESTIMATE\", \"id\": 104, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"usec\":" << this->usec;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"roll\":" << float_tostring(this->roll);
ss << ", \"pitch\":" << float_tostring(this->pitch);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"covariance\":"
<< "[" << float_array_tostring(21, reinterpret_cast<float*>(&this->covariance[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkHighresImu::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->xacc), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->yacc), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->zacc), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->xgyro), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->ygyro), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->zgyro), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->xmag), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->ymag), 36);
pack_float(buffer, reinterpret_cast<const float*>(&this->zmag), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->abs_pressure), 44);
pack_float(buffer, reinterpret_cast<const float*>(&this->diff_pressure), 48);
pack_float(buffer, reinterpret_cast<const float*>(&this->pressure_alt), 52);
pack_float(buffer, reinterpret_cast<const float*>(&this->temperature), 56);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->fields_updated), 60);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->id), 62);
return 63;
}
int MavLinkHighresImu::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->xacc), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->yacc), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->zacc), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->xgyro), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->ygyro), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->zgyro), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->xmag), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->ymag), 36);
unpack_float(buffer, reinterpret_cast<float*>(&this->zmag), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->abs_pressure), 44);
unpack_float(buffer, reinterpret_cast<float*>(&this->diff_pressure), 48);
unpack_float(buffer, reinterpret_cast<float*>(&this->pressure_alt), 52);
unpack_float(buffer, reinterpret_cast<float*>(&this->temperature), 56);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->fields_updated), 60);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->id), 62);
return 63;
}
std::string MavLinkHighresImu::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIGHRES_IMU\", \"id\": 105, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"xacc\":" << float_tostring(this->xacc);
ss << ", \"yacc\":" << float_tostring(this->yacc);
ss << ", \"zacc\":" << float_tostring(this->zacc);
ss << ", \"xgyro\":" << float_tostring(this->xgyro);
ss << ", \"ygyro\":" << float_tostring(this->ygyro);
ss << ", \"zgyro\":" << float_tostring(this->zgyro);
ss << ", \"xmag\":" << float_tostring(this->xmag);
ss << ", \"ymag\":" << float_tostring(this->ymag);
ss << ", \"zmag\":" << float_tostring(this->zmag);
ss << ", \"abs_pressure\":" << float_tostring(this->abs_pressure);
ss << ", \"diff_pressure\":" << float_tostring(this->diff_pressure);
ss << ", \"pressure_alt\":" << float_tostring(this->pressure_alt);
ss << ", \"temperature\":" << float_tostring(this->temperature);
ss << ", \"fields_updated\":" << this->fields_updated;
ss << ", \"id\":" << static_cast<unsigned int>(this->id);
ss << "} },";
return ss.str();
}
int MavLinkOpticalFlowRad::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->integration_time_us), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->integrated_x), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->integrated_y), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->integrated_xgyro), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->integrated_ygyro), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->integrated_zgyro), 28);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_delta_distance_us), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->distance), 36);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 40);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->sensor_id), 42);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->quality), 43);
return 44;
}
int MavLinkOpticalFlowRad::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->integration_time_us), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->integrated_x), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->integrated_y), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->integrated_xgyro), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->integrated_ygyro), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->integrated_zgyro), 28);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_delta_distance_us), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->distance), 36);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 40);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->sensor_id), 42);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->quality), 43);
return 44;
}
std::string MavLinkOpticalFlowRad::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"OPTICAL_FLOW_RAD\", \"id\": 106, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"integration_time_us\":" << this->integration_time_us;
ss << ", \"integrated_x\":" << float_tostring(this->integrated_x);
ss << ", \"integrated_y\":" << float_tostring(this->integrated_y);
ss << ", \"integrated_xgyro\":" << float_tostring(this->integrated_xgyro);
ss << ", \"integrated_ygyro\":" << float_tostring(this->integrated_ygyro);
ss << ", \"integrated_zgyro\":" << float_tostring(this->integrated_zgyro);
ss << ", \"time_delta_distance_us\":" << this->time_delta_distance_us;
ss << ", \"distance\":" << float_tostring(this->distance);
ss << ", \"temperature\":" << this->temperature;
ss << ", \"sensor_id\":" << static_cast<unsigned int>(this->sensor_id);
ss << ", \"quality\":" << static_cast<unsigned int>(this->quality);
ss << "} },";
return ss.str();
}
int MavLinkHilSensor::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->xacc), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->yacc), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->zacc), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->xgyro), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->ygyro), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->zgyro), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->xmag), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->ymag), 36);
pack_float(buffer, reinterpret_cast<const float*>(&this->zmag), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->abs_pressure), 44);
pack_float(buffer, reinterpret_cast<const float*>(&this->diff_pressure), 48);
pack_float(buffer, reinterpret_cast<const float*>(&this->pressure_alt), 52);
pack_float(buffer, reinterpret_cast<const float*>(&this->temperature), 56);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->fields_updated), 60);
return 64;
}
int MavLinkHilSensor::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->xacc), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->yacc), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->zacc), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->xgyro), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->ygyro), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->zgyro), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->xmag), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->ymag), 36);
unpack_float(buffer, reinterpret_cast<float*>(&this->zmag), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->abs_pressure), 44);
unpack_float(buffer, reinterpret_cast<float*>(&this->diff_pressure), 48);
unpack_float(buffer, reinterpret_cast<float*>(&this->pressure_alt), 52);
unpack_float(buffer, reinterpret_cast<float*>(&this->temperature), 56);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->fields_updated), 60);
return 64;
}
std::string MavLinkHilSensor::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIL_SENSOR\", \"id\": 107, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"xacc\":" << float_tostring(this->xacc);
ss << ", \"yacc\":" << float_tostring(this->yacc);
ss << ", \"zacc\":" << float_tostring(this->zacc);
ss << ", \"xgyro\":" << float_tostring(this->xgyro);
ss << ", \"ygyro\":" << float_tostring(this->ygyro);
ss << ", \"zgyro\":" << float_tostring(this->zgyro);
ss << ", \"xmag\":" << float_tostring(this->xmag);
ss << ", \"ymag\":" << float_tostring(this->ymag);
ss << ", \"zmag\":" << float_tostring(this->zmag);
ss << ", \"abs_pressure\":" << float_tostring(this->abs_pressure);
ss << ", \"diff_pressure\":" << float_tostring(this->diff_pressure);
ss << ", \"pressure_alt\":" << float_tostring(this->pressure_alt);
ss << ", \"temperature\":" << float_tostring(this->temperature);
ss << ", \"fields_updated\":" << this->fields_updated;
ss << "} },";
return ss.str();
}
int MavLinkSimState::pack(char* buffer) const
{
pack_float(buffer, reinterpret_cast<const float*>(&this->q1), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->q2), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->q3), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->q4), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->roll), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitch), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->xacc), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->yacc), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->zacc), 36);
pack_float(buffer, reinterpret_cast<const float*>(&this->xgyro), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->ygyro), 44);
pack_float(buffer, reinterpret_cast<const float*>(&this->zgyro), 48);
pack_float(buffer, reinterpret_cast<const float*>(&this->lat), 52);
pack_float(buffer, reinterpret_cast<const float*>(&this->lon), 56);
pack_float(buffer, reinterpret_cast<const float*>(&this->alt), 60);
pack_float(buffer, reinterpret_cast<const float*>(&this->std_dev_horz), 64);
pack_float(buffer, reinterpret_cast<const float*>(&this->std_dev_vert), 68);
pack_float(buffer, reinterpret_cast<const float*>(&this->vn), 72);
pack_float(buffer, reinterpret_cast<const float*>(&this->ve), 76);
pack_float(buffer, reinterpret_cast<const float*>(&this->vd), 80);
return 84;
}
int MavLinkSimState::unpack(const char* buffer)
{
unpack_float(buffer, reinterpret_cast<float*>(&this->q1), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->q2), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->q3), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->q4), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->roll), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitch), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->xacc), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->yacc), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->zacc), 36);
unpack_float(buffer, reinterpret_cast<float*>(&this->xgyro), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->ygyro), 44);
unpack_float(buffer, reinterpret_cast<float*>(&this->zgyro), 48);
unpack_float(buffer, reinterpret_cast<float*>(&this->lat), 52);
unpack_float(buffer, reinterpret_cast<float*>(&this->lon), 56);
unpack_float(buffer, reinterpret_cast<float*>(&this->alt), 60);
unpack_float(buffer, reinterpret_cast<float*>(&this->std_dev_horz), 64);
unpack_float(buffer, reinterpret_cast<float*>(&this->std_dev_vert), 68);
unpack_float(buffer, reinterpret_cast<float*>(&this->vn), 72);
unpack_float(buffer, reinterpret_cast<float*>(&this->ve), 76);
unpack_float(buffer, reinterpret_cast<float*>(&this->vd), 80);
return 84;
}
std::string MavLinkSimState::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SIM_STATE\", \"id\": 108, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"q1\":" << float_tostring(this->q1);
ss << ", \"q2\":" << float_tostring(this->q2);
ss << ", \"q3\":" << float_tostring(this->q3);
ss << ", \"q4\":" << float_tostring(this->q4);
ss << ", \"roll\":" << float_tostring(this->roll);
ss << ", \"pitch\":" << float_tostring(this->pitch);
ss << ", \"yaw\":" << float_tostring(this->yaw);
ss << ", \"xacc\":" << float_tostring(this->xacc);
ss << ", \"yacc\":" << float_tostring(this->yacc);
ss << ", \"zacc\":" << float_tostring(this->zacc);
ss << ", \"xgyro\":" << float_tostring(this->xgyro);
ss << ", \"ygyro\":" << float_tostring(this->ygyro);
ss << ", \"zgyro\":" << float_tostring(this->zgyro);
ss << ", \"lat\":" << float_tostring(this->lat);
ss << ", \"lon\":" << float_tostring(this->lon);
ss << ", \"alt\":" << float_tostring(this->alt);
ss << ", \"std_dev_horz\":" << float_tostring(this->std_dev_horz);
ss << ", \"std_dev_vert\":" << float_tostring(this->std_dev_vert);
ss << ", \"vn\":" << float_tostring(this->vn);
ss << ", \"ve\":" << float_tostring(this->ve);
ss << ", \"vd\":" << float_tostring(this->vd);
ss << "} },";
return ss.str();
}
int MavLinkRadioStatus::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->rxerrors), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->fixed), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rssi), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->remrssi), 5);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->txbuf), 6);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->noise), 7);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->remnoise), 8);
return 9;
}
int MavLinkRadioStatus::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->rxerrors), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->fixed), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rssi), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->remrssi), 5);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->txbuf), 6);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->noise), 7);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->remnoise), 8);
return 9;
}
std::string MavLinkRadioStatus::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"RADIO_STATUS\", \"id\": 109, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"rxerrors\":" << this->rxerrors;
ss << ", \"fixed\":" << this->fixed;
ss << ", \"rssi\":" << static_cast<unsigned int>(this->rssi);
ss << ", \"remrssi\":" << static_cast<unsigned int>(this->remrssi);
ss << ", \"txbuf\":" << static_cast<unsigned int>(this->txbuf);
ss << ", \"noise\":" << static_cast<unsigned int>(this->noise);
ss << ", \"remnoise\":" << static_cast<unsigned int>(this->remnoise);
ss << "} },";
return ss.str();
}
int MavLinkFileTransferProtocol::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_network), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 1);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 2);
pack_uint8_t_array(251, buffer, reinterpret_cast<const uint8_t*>(&this->payload[0]), 3);
return 254;
}
int MavLinkFileTransferProtocol::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_network), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 1);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 2);
unpack_uint8_t_array(251, buffer, reinterpret_cast<uint8_t*>(&this->payload[0]), 3);
return 254;
}
std::string MavLinkFileTransferProtocol::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"FILE_TRANSFER_PROTOCOL\", \"id\": 110, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"target_network\":" << static_cast<unsigned int>(this->target_network);
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"payload\":"
<< "[" << uint8_t_array_tostring(251, reinterpret_cast<uint8_t*>(&this->payload[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkTimesync::pack(char* buffer) const
{
pack_int64_t(buffer, reinterpret_cast<const int64_t*>(&this->tc1), 0);
pack_int64_t(buffer, reinterpret_cast<const int64_t*>(&this->ts1), 8);
return 16;
}
int MavLinkTimesync::unpack(const char* buffer)
{
unpack_int64_t(buffer, reinterpret_cast<int64_t*>(&this->tc1), 0);
unpack_int64_t(buffer, reinterpret_cast<int64_t*>(&this->ts1), 8);
return 16;
}
std::string MavLinkTimesync::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"TIMESYNC\", \"id\": 111, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"tc1\":" << this->tc1;
ss << ", \"ts1\":" << this->ts1;
ss << "} },";
return ss.str();
}
int MavLinkCameraTrigger::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->seq), 8);
return 12;
}
int MavLinkCameraTrigger::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->seq), 8);
return 12;
}
std::string MavLinkCameraTrigger::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"CAMERA_TRIGGER\", \"id\": 112, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"seq\":" << this->seq;
ss << "} },";
return ss.str();
}
int MavLinkHilGps::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 12);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->alt), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->eph), 20);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->epv), 22);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->vel), 24);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vn), 26);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->ve), 28);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vd), 30);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->cog), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->fix_type), 34);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->satellites_visible), 35);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->id), 36);
return 37;
}
int MavLinkHilGps::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 12);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->alt), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->eph), 20);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->epv), 22);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->vel), 24);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vn), 26);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->ve), 28);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vd), 30);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->cog), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->fix_type), 34);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->satellites_visible), 35);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->id), 36);
return 37;
}
std::string MavLinkHilGps::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIL_GPS\", \"id\": 113, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"alt\":" << this->alt;
ss << ", \"eph\":" << this->eph;
ss << ", \"epv\":" << this->epv;
ss << ", \"vel\":" << this->vel;
ss << ", \"vn\":" << this->vn;
ss << ", \"ve\":" << this->ve;
ss << ", \"vd\":" << this->vd;
ss << ", \"cog\":" << this->cog;
ss << ", \"fix_type\":" << static_cast<unsigned int>(this->fix_type);
ss << ", \"satellites_visible\":" << static_cast<unsigned int>(this->satellites_visible);
ss << ", \"id\":" << static_cast<unsigned int>(this->id);
ss << "} },";
return ss.str();
}
int MavLinkHilOpticalFlow::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->integration_time_us), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->integrated_x), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->integrated_y), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->integrated_xgyro), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->integrated_ygyro), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->integrated_zgyro), 28);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_delta_distance_us), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->distance), 36);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 40);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->sensor_id), 42);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->quality), 43);
return 44;
}
int MavLinkHilOpticalFlow::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->integration_time_us), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->integrated_x), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->integrated_y), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->integrated_xgyro), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->integrated_ygyro), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->integrated_zgyro), 28);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_delta_distance_us), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->distance), 36);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 40);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->sensor_id), 42);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->quality), 43);
return 44;
}
std::string MavLinkHilOpticalFlow::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIL_OPTICAL_FLOW\", \"id\": 114, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"integration_time_us\":" << this->integration_time_us;
ss << ", \"integrated_x\":" << float_tostring(this->integrated_x);
ss << ", \"integrated_y\":" << float_tostring(this->integrated_y);
ss << ", \"integrated_xgyro\":" << float_tostring(this->integrated_xgyro);
ss << ", \"integrated_ygyro\":" << float_tostring(this->integrated_ygyro);
ss << ", \"integrated_zgyro\":" << float_tostring(this->integrated_zgyro);
ss << ", \"time_delta_distance_us\":" << this->time_delta_distance_us;
ss << ", \"distance\":" << float_tostring(this->distance);
ss << ", \"temperature\":" << this->temperature;
ss << ", \"sensor_id\":" << static_cast<unsigned int>(this->sensor_id);
ss << ", \"quality\":" << static_cast<unsigned int>(this->quality);
ss << "} },";
return ss.str();
}
int MavLinkHilStateQuaternion::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->attitude_quaternion[0]), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->rollspeed), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitchspeed), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->yawspeed), 32);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 36);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 40);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->alt), 44);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vx), 48);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vy), 50);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->vz), 52);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->ind_airspeed), 54);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->true_airspeed), 56);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xacc), 58);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->yacc), 60);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zacc), 62);
return 64;
}
int MavLinkHilStateQuaternion::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->attitude_quaternion[0]), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->rollspeed), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitchspeed), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->yawspeed), 32);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 36);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 40);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->alt), 44);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vx), 48);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vy), 50);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->vz), 52);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->ind_airspeed), 54);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->true_airspeed), 56);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xacc), 58);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->yacc), 60);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zacc), 62);
return 64;
}
std::string MavLinkHilStateQuaternion::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIL_STATE_QUATERNION\", \"id\": 115, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"attitude_quaternion\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->attitude_quaternion[0])) << "]";
ss << ", \"rollspeed\":" << float_tostring(this->rollspeed);
ss << ", \"pitchspeed\":" << float_tostring(this->pitchspeed);
ss << ", \"yawspeed\":" << float_tostring(this->yawspeed);
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"alt\":" << this->alt;
ss << ", \"vx\":" << this->vx;
ss << ", \"vy\":" << this->vy;
ss << ", \"vz\":" << this->vz;
ss << ", \"ind_airspeed\":" << this->ind_airspeed;
ss << ", \"true_airspeed\":" << this->true_airspeed;
ss << ", \"xacc\":" << this->xacc;
ss << ", \"yacc\":" << this->yacc;
ss << ", \"zacc\":" << this->zacc;
ss << "} },";
return ss.str();
}
int MavLinkScaledImu2::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xacc), 4);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->yacc), 6);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zacc), 8);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xgyro), 10);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->ygyro), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zgyro), 14);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xmag), 16);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->ymag), 18);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zmag), 20);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 22);
return 24;
}
int MavLinkScaledImu2::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xacc), 4);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->yacc), 6);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zacc), 8);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xgyro), 10);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->ygyro), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zgyro), 14);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xmag), 16);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->ymag), 18);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zmag), 20);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 22);
return 24;
}
std::string MavLinkScaledImu2::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SCALED_IMU2\", \"id\": 116, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"xacc\":" << this->xacc;
ss << ", \"yacc\":" << this->yacc;
ss << ", \"zacc\":" << this->zacc;
ss << ", \"xgyro\":" << this->xgyro;
ss << ", \"ygyro\":" << this->ygyro;
ss << ", \"zgyro\":" << this->zgyro;
ss << ", \"xmag\":" << this->xmag;
ss << ", \"ymag\":" << this->ymag;
ss << ", \"zmag\":" << this->zmag;
ss << ", \"temperature\":" << this->temperature;
ss << "} },";
return ss.str();
}
int MavLinkLogRequestList::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->start), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->end), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 5);
return 6;
}
int MavLinkLogRequestList::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->start), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->end), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 5);
return 6;
}
std::string MavLinkLogRequestList::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LOG_REQUEST_LIST\", \"id\": 117, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"start\":" << this->start;
ss << ", \"end\":" << this->end;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << "} },";
return ss.str();
}
int MavLinkLogEntry::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_utc), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->size), 4);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->id), 8);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->num_logs), 10);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->last_log_num), 12);
return 14;
}
int MavLinkLogEntry::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_utc), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->size), 4);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->id), 8);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->num_logs), 10);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->last_log_num), 12);
return 14;
}
std::string MavLinkLogEntry::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LOG_ENTRY\", \"id\": 118, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_utc\":" << this->time_utc;
ss << ", \"size\":" << this->size;
ss << ", \"id\":" << this->id;
ss << ", \"num_logs\":" << this->num_logs;
ss << ", \"last_log_num\":" << this->last_log_num;
ss << "} },";
return ss.str();
}
int MavLinkLogRequestData::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->ofs), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->count), 4);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->id), 8);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 10);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 11);
return 12;
}
int MavLinkLogRequestData::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->ofs), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->count), 4);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->id), 8);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 10);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 11);
return 12;
}
std::string MavLinkLogRequestData::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LOG_REQUEST_DATA\", \"id\": 119, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"ofs\":" << this->ofs;
ss << ", \"count\":" << this->count;
ss << ", \"id\":" << this->id;
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << "} },";
return ss.str();
}
int MavLinkLogData::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->ofs), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->id), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->count), 6);
pack_uint8_t_array(90, buffer, reinterpret_cast<const uint8_t*>(&this->data[0]), 7);
return 97;
}
int MavLinkLogData::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->ofs), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->id), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->count), 6);
unpack_uint8_t_array(90, buffer, reinterpret_cast<uint8_t*>(&this->data[0]), 7);
return 97;
}
std::string MavLinkLogData::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LOG_DATA\", \"id\": 120, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"ofs\":" << this->ofs;
ss << ", \"id\":" << this->id;
ss << ", \"count\":" << static_cast<unsigned int>(this->count);
ss << ", \"data\":"
<< "[" << uint8_t_array_tostring(90, reinterpret_cast<uint8_t*>(&this->data[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkLogErase::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 1);
return 2;
}
int MavLinkLogErase::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 1);
return 2;
}
std::string MavLinkLogErase::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LOG_ERASE\", \"id\": 121, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << "} },";
return ss.str();
}
int MavLinkLogRequestEnd::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 1);
return 2;
}
int MavLinkLogRequestEnd::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 1);
return 2;
}
std::string MavLinkLogRequestEnd::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LOG_REQUEST_END\", \"id\": 122, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << "} },";
return ss.str();
}
int MavLinkGpsInjectData::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 1);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->len), 2);
pack_uint8_t_array(110, buffer, reinterpret_cast<const uint8_t*>(&this->data[0]), 3);
return 113;
}
int MavLinkGpsInjectData::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 1);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->len), 2);
unpack_uint8_t_array(110, buffer, reinterpret_cast<uint8_t*>(&this->data[0]), 3);
return 113;
}
std::string MavLinkGpsInjectData::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GPS_INJECT_DATA\", \"id\": 123, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"len\":" << static_cast<unsigned int>(this->len);
ss << ", \"data\":"
<< "[" << uint8_t_array_tostring(110, reinterpret_cast<uint8_t*>(&this->data[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkGps2Raw::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 12);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->alt), 16);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->dgps_age), 20);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->eph), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->epv), 26);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->vel), 28);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->cog), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->fix_type), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->satellites_visible), 33);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->dgps_numch), 34);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->yaw), 35);
return 37;
}
int MavLinkGps2Raw::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 12);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->alt), 16);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->dgps_age), 20);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->eph), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->epv), 26);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->vel), 28);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->cog), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->fix_type), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->satellites_visible), 33);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->dgps_numch), 34);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->yaw), 35);
return 37;
}
std::string MavLinkGps2Raw::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GPS2_RAW\", \"id\": 124, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"alt\":" << this->alt;
ss << ", \"dgps_age\":" << this->dgps_age;
ss << ", \"eph\":" << this->eph;
ss << ", \"epv\":" << this->epv;
ss << ", \"vel\":" << this->vel;
ss << ", \"cog\":" << this->cog;
ss << ", \"fix_type\":" << static_cast<unsigned int>(this->fix_type);
ss << ", \"satellites_visible\":" << static_cast<unsigned int>(this->satellites_visible);
ss << ", \"dgps_numch\":" << static_cast<unsigned int>(this->dgps_numch);
ss << ", \"yaw\":" << this->yaw;
ss << "} },";
return ss.str();
}
int MavLinkPowerStatus::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->Vcc), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->Vservo), 2);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->flags), 4);
return 6;
}
int MavLinkPowerStatus::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->Vcc), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->Vservo), 2);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->flags), 4);
return 6;
}
std::string MavLinkPowerStatus::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"POWER_STATUS\", \"id\": 125, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"Vcc\":" << this->Vcc;
ss << ", \"Vservo\":" << this->Vservo;
ss << ", \"flags\":" << this->flags;
ss << "} },";
return ss.str();
}
int MavLinkSerialControl::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->baudrate), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->timeout), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->device), 6);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->flags), 7);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->count), 8);
pack_uint8_t_array(70, buffer, reinterpret_cast<const uint8_t*>(&this->data[0]), 9);
return 79;
}
int MavLinkSerialControl::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->baudrate), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->timeout), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->device), 6);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->flags), 7);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->count), 8);
unpack_uint8_t_array(70, buffer, reinterpret_cast<uint8_t*>(&this->data[0]), 9);
return 79;
}
std::string MavLinkSerialControl::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SERIAL_CONTROL\", \"id\": 126, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"baudrate\":" << this->baudrate;
ss << ", \"timeout\":" << this->timeout;
ss << ", \"device\":" << static_cast<unsigned int>(this->device);
ss << ", \"flags\":" << static_cast<unsigned int>(this->flags);
ss << ", \"count\":" << static_cast<unsigned int>(this->count);
ss << ", \"data\":"
<< "[" << uint8_t_array_tostring(70, reinterpret_cast<uint8_t*>(&this->data[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkGpsRtk::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_last_baseline_ms), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->tow), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->baseline_a_mm), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->baseline_b_mm), 12);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->baseline_c_mm), 16);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->accuracy), 20);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->iar_num_hypotheses), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->wn), 28);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rtk_receiver_id), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rtk_health), 31);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rtk_rate), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->nsats), 33);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->baseline_coords_type), 34);
return 35;
}
int MavLinkGpsRtk::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_last_baseline_ms), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->tow), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->baseline_a_mm), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->baseline_b_mm), 12);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->baseline_c_mm), 16);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->accuracy), 20);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->iar_num_hypotheses), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->wn), 28);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rtk_receiver_id), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rtk_health), 31);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rtk_rate), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->nsats), 33);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->baseline_coords_type), 34);
return 35;
}
std::string MavLinkGpsRtk::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GPS_RTK\", \"id\": 127, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_last_baseline_ms\":" << this->time_last_baseline_ms;
ss << ", \"tow\":" << this->tow;
ss << ", \"baseline_a_mm\":" << this->baseline_a_mm;
ss << ", \"baseline_b_mm\":" << this->baseline_b_mm;
ss << ", \"baseline_c_mm\":" << this->baseline_c_mm;
ss << ", \"accuracy\":" << this->accuracy;
ss << ", \"iar_num_hypotheses\":" << this->iar_num_hypotheses;
ss << ", \"wn\":" << this->wn;
ss << ", \"rtk_receiver_id\":" << static_cast<unsigned int>(this->rtk_receiver_id);
ss << ", \"rtk_health\":" << static_cast<unsigned int>(this->rtk_health);
ss << ", \"rtk_rate\":" << static_cast<unsigned int>(this->rtk_rate);
ss << ", \"nsats\":" << static_cast<unsigned int>(this->nsats);
ss << ", \"baseline_coords_type\":" << static_cast<unsigned int>(this->baseline_coords_type);
ss << "} },";
return ss.str();
}
int MavLinkGps2Rtk::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_last_baseline_ms), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->tow), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->baseline_a_mm), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->baseline_b_mm), 12);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->baseline_c_mm), 16);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->accuracy), 20);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->iar_num_hypotheses), 24);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->wn), 28);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rtk_receiver_id), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rtk_health), 31);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->rtk_rate), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->nsats), 33);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->baseline_coords_type), 34);
return 35;
}
int MavLinkGps2Rtk::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_last_baseline_ms), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->tow), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->baseline_a_mm), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->baseline_b_mm), 12);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->baseline_c_mm), 16);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->accuracy), 20);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->iar_num_hypotheses), 24);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->wn), 28);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rtk_receiver_id), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rtk_health), 31);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->rtk_rate), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->nsats), 33);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->baseline_coords_type), 34);
return 35;
}
std::string MavLinkGps2Rtk::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GPS2_RTK\", \"id\": 128, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_last_baseline_ms\":" << this->time_last_baseline_ms;
ss << ", \"tow\":" << this->tow;
ss << ", \"baseline_a_mm\":" << this->baseline_a_mm;
ss << ", \"baseline_b_mm\":" << this->baseline_b_mm;
ss << ", \"baseline_c_mm\":" << this->baseline_c_mm;
ss << ", \"accuracy\":" << this->accuracy;
ss << ", \"iar_num_hypotheses\":" << this->iar_num_hypotheses;
ss << ", \"wn\":" << this->wn;
ss << ", \"rtk_receiver_id\":" << static_cast<unsigned int>(this->rtk_receiver_id);
ss << ", \"rtk_health\":" << static_cast<unsigned int>(this->rtk_health);
ss << ", \"rtk_rate\":" << static_cast<unsigned int>(this->rtk_rate);
ss << ", \"nsats\":" << static_cast<unsigned int>(this->nsats);
ss << ", \"baseline_coords_type\":" << static_cast<unsigned int>(this->baseline_coords_type);
ss << "} },";
return ss.str();
}
int MavLinkScaledImu3::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xacc), 4);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->yacc), 6);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zacc), 8);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xgyro), 10);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->ygyro), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zgyro), 14);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->xmag), 16);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->ymag), 18);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->zmag), 20);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 22);
return 24;
}
int MavLinkScaledImu3::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xacc), 4);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->yacc), 6);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zacc), 8);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xgyro), 10);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->ygyro), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zgyro), 14);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->xmag), 16);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->ymag), 18);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->zmag), 20);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 22);
return 24;
}
std::string MavLinkScaledImu3::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SCALED_IMU3\", \"id\": 129, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"xacc\":" << this->xacc;
ss << ", \"yacc\":" << this->yacc;
ss << ", \"zacc\":" << this->zacc;
ss << ", \"xgyro\":" << this->xgyro;
ss << ", \"ygyro\":" << this->ygyro;
ss << ", \"zgyro\":" << this->zgyro;
ss << ", \"xmag\":" << this->xmag;
ss << ", \"ymag\":" << this->ymag;
ss << ", \"zmag\":" << this->zmag;
ss << ", \"temperature\":" << this->temperature;
ss << "} },";
return ss.str();
}
int MavLinkDataTransmissionHandshake::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->size), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->width), 4);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->height), 6);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->packets), 8);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->type), 10);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->payload), 11);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->jpg_quality), 12);
return 13;
}
int MavLinkDataTransmissionHandshake::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->size), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->width), 4);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->height), 6);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->packets), 8);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->type), 10);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->payload), 11);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->jpg_quality), 12);
return 13;
}
std::string MavLinkDataTransmissionHandshake::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"DATA_TRANSMISSION_HANDSHAKE\", \"id\": 130, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"size\":" << this->size;
ss << ", \"width\":" << this->width;
ss << ", \"height\":" << this->height;
ss << ", \"packets\":" << this->packets;
ss << ", \"type\":" << static_cast<unsigned int>(this->type);
ss << ", \"payload\":" << static_cast<unsigned int>(this->payload);
ss << ", \"jpg_quality\":" << static_cast<unsigned int>(this->jpg_quality);
ss << "} },";
return ss.str();
}
int MavLinkEncapsulatedData::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->seqnr), 0);
pack_uint8_t_array(253, buffer, reinterpret_cast<const uint8_t*>(&this->data[0]), 2);
return 255;
}
int MavLinkEncapsulatedData::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->seqnr), 0);
unpack_uint8_t_array(253, buffer, reinterpret_cast<uint8_t*>(&this->data[0]), 2);
return 255;
}
std::string MavLinkEncapsulatedData::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"ENCAPSULATED_DATA\", \"id\": 131, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"seqnr\":" << this->seqnr;
ss << ", \"data\":"
<< "[" << uint8_t_array_tostring(253, reinterpret_cast<uint8_t*>(&this->data[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkDistanceSensor::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->min_distance), 4);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->max_distance), 6);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->current_distance), 8);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->type), 10);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->id), 11);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->orientation), 12);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->covariance), 13);
pack_float(buffer, reinterpret_cast<const float*>(&this->horizontal_fov), 14);
pack_float(buffer, reinterpret_cast<const float*>(&this->vertical_fov), 18);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->quaternion[0]), 22);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->signal_quality), 38);
return 39;
}
int MavLinkDistanceSensor::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->min_distance), 4);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->max_distance), 6);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->current_distance), 8);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->type), 10);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->id), 11);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->orientation), 12);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->covariance), 13);
unpack_float(buffer, reinterpret_cast<float*>(&this->horizontal_fov), 14);
unpack_float(buffer, reinterpret_cast<float*>(&this->vertical_fov), 18);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->quaternion[0]), 22);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->signal_quality), 38);
return 39;
}
std::string MavLinkDistanceSensor::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"DISTANCE_SENSOR\", \"id\": 132, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"min_distance\":" << this->min_distance;
ss << ", \"max_distance\":" << this->max_distance;
ss << ", \"current_distance\":" << this->current_distance;
ss << ", \"type\":" << static_cast<unsigned int>(this->type);
ss << ", \"id\":" << static_cast<unsigned int>(this->id);
ss << ", \"orientation\":" << static_cast<unsigned int>(this->orientation);
ss << ", \"covariance\":" << static_cast<unsigned int>(this->covariance);
ss << ", \"horizontal_fov\":" << float_tostring(this->horizontal_fov);
ss << ", \"vertical_fov\":" << float_tostring(this->vertical_fov);
ss << ", \"quaternion\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->quaternion[0])) << "]";
ss << ", \"signal_quality\":" << static_cast<unsigned int>(this->signal_quality);
ss << "} },";
return ss.str();
}
int MavLinkTerrainRequest::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->mask), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 12);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->grid_spacing), 16);
return 18;
}
int MavLinkTerrainRequest::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->mask), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 12);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->grid_spacing), 16);
return 18;
}
std::string MavLinkTerrainRequest::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"TERRAIN_REQUEST\", \"id\": 133, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"mask\":" << this->mask;
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"grid_spacing\":" << this->grid_spacing;
ss << "} },";
return ss.str();
}
int MavLinkTerrainData::pack(char* buffer) const
{
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 4);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->grid_spacing), 8);
pack_int16_t_array(16, buffer, reinterpret_cast<const int16_t*>(&this->data[0]), 10);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->gridbit), 42);
return 43;
}
int MavLinkTerrainData::unpack(const char* buffer)
{
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 4);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->grid_spacing), 8);
unpack_int16_t_array(16, buffer, reinterpret_cast<int16_t*>(&this->data[0]), 10);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->gridbit), 42);
return 43;
}
std::string MavLinkTerrainData::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"TERRAIN_DATA\", \"id\": 134, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"grid_spacing\":" << this->grid_spacing;
ss << ", \"data\":"
<< "[" << int16_t_array_tostring(16, reinterpret_cast<int16_t*>(&this->data[0])) << "]";
ss << ", \"gridbit\":" << static_cast<unsigned int>(this->gridbit);
ss << "} },";
return ss.str();
}
int MavLinkTerrainCheck::pack(char* buffer) const
{
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 4);
return 8;
}
int MavLinkTerrainCheck::unpack(const char* buffer)
{
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 4);
return 8;
}
std::string MavLinkTerrainCheck::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"TERRAIN_CHECK\", \"id\": 135, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << "} },";
return ss.str();
}
int MavLinkTerrainReport::pack(char* buffer) const
{
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->terrain_height), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->current_height), 12);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->spacing), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->pending), 18);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->loaded), 20);
return 22;
}
int MavLinkTerrainReport::unpack(const char* buffer)
{
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->terrain_height), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->current_height), 12);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->spacing), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->pending), 18);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->loaded), 20);
return 22;
}
std::string MavLinkTerrainReport::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"TERRAIN_REPORT\", \"id\": 136, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"terrain_height\":" << float_tostring(this->terrain_height);
ss << ", \"current_height\":" << float_tostring(this->current_height);
ss << ", \"spacing\":" << this->spacing;
ss << ", \"pending\":" << this->pending;
ss << ", \"loaded\":" << this->loaded;
ss << "} },";
return ss.str();
}
int MavLinkScaledPressure2::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->press_abs), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->press_diff), 8);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature_press_diff), 14);
return 16;
}
int MavLinkScaledPressure2::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->press_abs), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->press_diff), 8);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature_press_diff), 14);
return 16;
}
std::string MavLinkScaledPressure2::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SCALED_PRESSURE2\", \"id\": 137, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"press_abs\":" << float_tostring(this->press_abs);
ss << ", \"press_diff\":" << float_tostring(this->press_diff);
ss << ", \"temperature\":" << this->temperature;
ss << ", \"temperature_press_diff\":" << this->temperature_press_diff;
ss << "} },";
return ss.str();
}
int MavLinkAttPosMocap::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->q[0]), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 32);
pack_float_array(21, buffer, reinterpret_cast<const float*>(&this->covariance[0]), 36);
return 120;
}
int MavLinkAttPosMocap::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->q[0]), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 32);
unpack_float_array(21, buffer, reinterpret_cast<float*>(&this->covariance[0]), 36);
return 120;
}
std::string MavLinkAttPosMocap::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"ATT_POS_MOCAP\", \"id\": 138, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"q\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->q[0])) << "]";
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"covariance\":"
<< "[" << float_array_tostring(21, reinterpret_cast<float*>(&this->covariance[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkSetActuatorControlTarget::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float_array(8, buffer, reinterpret_cast<const float*>(&this->controls[0]), 8);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->group_mlx), 40);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 41);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 42);
return 43;
}
int MavLinkSetActuatorControlTarget::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float_array(8, buffer, reinterpret_cast<float*>(&this->controls[0]), 8);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->group_mlx), 40);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 41);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 42);
return 43;
}
std::string MavLinkSetActuatorControlTarget::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SET_ACTUATOR_CONTROL_TARGET\", \"id\": 139, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"controls\":"
<< "[" << float_array_tostring(8, reinterpret_cast<float*>(&this->controls[0])) << "]";
ss << ", \"group_mlx\":" << static_cast<unsigned int>(this->group_mlx);
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << "} },";
return ss.str();
}
int MavLinkActuatorControlTarget::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float_array(8, buffer, reinterpret_cast<const float*>(&this->controls[0]), 8);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->group_mlx), 40);
return 41;
}
int MavLinkActuatorControlTarget::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float_array(8, buffer, reinterpret_cast<float*>(&this->controls[0]), 8);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->group_mlx), 40);
return 41;
}
std::string MavLinkActuatorControlTarget::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"ACTUATOR_CONTROL_TARGET\", \"id\": 140, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"controls\":"
<< "[" << float_array_tostring(8, reinterpret_cast<float*>(&this->controls[0])) << "]";
ss << ", \"group_mlx\":" << static_cast<unsigned int>(this->group_mlx);
ss << "} },";
return ss.str();
}
int MavLinkAltitude::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->altitude_monotonic), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->altitude_amsl), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->altitude_local), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->altitude_relative), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->altitude_terrain), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->bottom_clearance), 28);
return 32;
}
int MavLinkAltitude::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->altitude_monotonic), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->altitude_amsl), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->altitude_local), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->altitude_relative), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->altitude_terrain), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->bottom_clearance), 28);
return 32;
}
std::string MavLinkAltitude::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"ALTITUDE\", \"id\": 141, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"altitude_monotonic\":" << float_tostring(this->altitude_monotonic);
ss << ", \"altitude_amsl\":" << float_tostring(this->altitude_amsl);
ss << ", \"altitude_local\":" << float_tostring(this->altitude_local);
ss << ", \"altitude_relative\":" << float_tostring(this->altitude_relative);
ss << ", \"altitude_terrain\":" << float_tostring(this->altitude_terrain);
ss << ", \"bottom_clearance\":" << float_tostring(this->bottom_clearance);
ss << "} },";
return ss.str();
}
int MavLinkResourceRequest::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->request_id), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->uri_type), 1);
pack_uint8_t_array(120, buffer, reinterpret_cast<const uint8_t*>(&this->uri[0]), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->transfer_type), 122);
pack_uint8_t_array(120, buffer, reinterpret_cast<const uint8_t*>(&this->storage[0]), 123);
return 243;
}
int MavLinkResourceRequest::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->request_id), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->uri_type), 1);
unpack_uint8_t_array(120, buffer, reinterpret_cast<uint8_t*>(&this->uri[0]), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->transfer_type), 122);
unpack_uint8_t_array(120, buffer, reinterpret_cast<uint8_t*>(&this->storage[0]), 123);
return 243;
}
std::string MavLinkResourceRequest::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"RESOURCE_REQUEST\", \"id\": 142, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"request_id\":" << static_cast<unsigned int>(this->request_id);
ss << ", \"uri_type\":" << static_cast<unsigned int>(this->uri_type);
ss << ", \"uri\":"
<< "[" << uint8_t_array_tostring(120, reinterpret_cast<uint8_t*>(&this->uri[0])) << "]";
ss << ", \"transfer_type\":" << static_cast<unsigned int>(this->transfer_type);
ss << ", \"storage\":"
<< "[" << uint8_t_array_tostring(120, reinterpret_cast<uint8_t*>(&this->storage[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkScaledPressure3::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->press_abs), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->press_diff), 8);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature_press_diff), 14);
return 16;
}
int MavLinkScaledPressure3::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->press_abs), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->press_diff), 8);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature_press_diff), 14);
return 16;
}
std::string MavLinkScaledPressure3::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SCALED_PRESSURE3\", \"id\": 143, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"press_abs\":" << float_tostring(this->press_abs);
ss << ", \"press_diff\":" << float_tostring(this->press_diff);
ss << ", \"temperature\":" << this->temperature;
ss << ", \"temperature_press_diff\":" << this->temperature_press_diff;
ss << "} },";
return ss.str();
}
int MavLinkFollowTarget::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->timestamp), 0);
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->custom_state), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 16);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->alt), 24);
pack_float_array(3, buffer, reinterpret_cast<const float*>(&this->vel[0]), 28);
pack_float_array(3, buffer, reinterpret_cast<const float*>(&this->acc[0]), 40);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->attitude_q[0]), 52);
pack_float_array(3, buffer, reinterpret_cast<const float*>(&this->rates[0]), 68);
pack_float_array(3, buffer, reinterpret_cast<const float*>(&this->position_cov[0]), 80);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->est_capabilities), 92);
return 93;
}
int MavLinkFollowTarget::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->timestamp), 0);
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->custom_state), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 16);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->alt), 24);
unpack_float_array(3, buffer, reinterpret_cast<float*>(&this->vel[0]), 28);
unpack_float_array(3, buffer, reinterpret_cast<float*>(&this->acc[0]), 40);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->attitude_q[0]), 52);
unpack_float_array(3, buffer, reinterpret_cast<float*>(&this->rates[0]), 68);
unpack_float_array(3, buffer, reinterpret_cast<float*>(&this->position_cov[0]), 80);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->est_capabilities), 92);
return 93;
}
std::string MavLinkFollowTarget::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"FOLLOW_TARGET\", \"id\": 144, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"timestamp\":" << this->timestamp;
ss << ", \"custom_state\":" << this->custom_state;
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"alt\":" << float_tostring(this->alt);
ss << ", \"vel\":"
<< "[" << float_array_tostring(3, reinterpret_cast<float*>(&this->vel[0])) << "]";
ss << ", \"acc\":"
<< "[" << float_array_tostring(3, reinterpret_cast<float*>(&this->acc[0])) << "]";
ss << ", \"attitude_q\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->attitude_q[0])) << "]";
ss << ", \"rates\":"
<< "[" << float_array_tostring(3, reinterpret_cast<float*>(&this->rates[0])) << "]";
ss << ", \"position_cov\":"
<< "[" << float_array_tostring(3, reinterpret_cast<float*>(&this->position_cov[0])) << "]";
ss << ", \"est_capabilities\":" << static_cast<unsigned int>(this->est_capabilities);
ss << "} },";
return ss.str();
}
int MavLinkControlSystemState::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x_acc), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->y_acc), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->z_acc), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->x_vel), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->y_vel), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->z_vel), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->x_pos), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->y_pos), 36);
pack_float(buffer, reinterpret_cast<const float*>(&this->z_pos), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->airspeed), 44);
pack_float_array(3, buffer, reinterpret_cast<const float*>(&this->vel_variance[0]), 48);
pack_float_array(3, buffer, reinterpret_cast<const float*>(&this->pos_variance[0]), 60);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->q[0]), 72);
pack_float(buffer, reinterpret_cast<const float*>(&this->roll_rate), 88);
pack_float(buffer, reinterpret_cast<const float*>(&this->pitch_rate), 92);
pack_float(buffer, reinterpret_cast<const float*>(&this->yaw_rate), 96);
return 100;
}
int MavLinkControlSystemState::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x_acc), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->y_acc), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->z_acc), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->x_vel), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->y_vel), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->z_vel), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->x_pos), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->y_pos), 36);
unpack_float(buffer, reinterpret_cast<float*>(&this->z_pos), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->airspeed), 44);
unpack_float_array(3, buffer, reinterpret_cast<float*>(&this->vel_variance[0]), 48);
unpack_float_array(3, buffer, reinterpret_cast<float*>(&this->pos_variance[0]), 60);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->q[0]), 72);
unpack_float(buffer, reinterpret_cast<float*>(&this->roll_rate), 88);
unpack_float(buffer, reinterpret_cast<float*>(&this->pitch_rate), 92);
unpack_float(buffer, reinterpret_cast<float*>(&this->yaw_rate), 96);
return 100;
}
std::string MavLinkControlSystemState::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"CONTROL_SYSTEM_STATE\", \"id\": 146, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"x_acc\":" << float_tostring(this->x_acc);
ss << ", \"y_acc\":" << float_tostring(this->y_acc);
ss << ", \"z_acc\":" << float_tostring(this->z_acc);
ss << ", \"x_vel\":" << float_tostring(this->x_vel);
ss << ", \"y_vel\":" << float_tostring(this->y_vel);
ss << ", \"z_vel\":" << float_tostring(this->z_vel);
ss << ", \"x_pos\":" << float_tostring(this->x_pos);
ss << ", \"y_pos\":" << float_tostring(this->y_pos);
ss << ", \"z_pos\":" << float_tostring(this->z_pos);
ss << ", \"airspeed\":" << float_tostring(this->airspeed);
ss << ", \"vel_variance\":"
<< "[" << float_array_tostring(3, reinterpret_cast<float*>(&this->vel_variance[0])) << "]";
ss << ", \"pos_variance\":"
<< "[" << float_array_tostring(3, reinterpret_cast<float*>(&this->pos_variance[0])) << "]";
ss << ", \"q\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->q[0])) << "]";
ss << ", \"roll_rate\":" << float_tostring(this->roll_rate);
ss << ", \"pitch_rate\":" << float_tostring(this->pitch_rate);
ss << ", \"yaw_rate\":" << float_tostring(this->yaw_rate);
ss << "} },";
return ss.str();
}
int MavLinkBatteryStatus::pack(char* buffer) const
{
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->current_consumed), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->energy_consumed), 4);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->temperature), 8);
pack_uint16_t_array(10, buffer, reinterpret_cast<const uint16_t*>(&this->voltages[0]), 10);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->current_battery), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->id), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->battery_function), 33);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->type), 34);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->battery_remaining), 35);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->time_remaining), 36);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->charge_state), 40);
pack_uint16_t_array(4, buffer, reinterpret_cast<const uint16_t*>(&this->voltages_ext[0]), 41);
return 49;
}
int MavLinkBatteryStatus::unpack(const char* buffer)
{
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->current_consumed), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->energy_consumed), 4);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->temperature), 8);
unpack_uint16_t_array(10, buffer, reinterpret_cast<uint16_t*>(&this->voltages[0]), 10);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->current_battery), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->id), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->battery_function), 33);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->type), 34);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->battery_remaining), 35);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->time_remaining), 36);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->charge_state), 40);
unpack_uint16_t_array(4, buffer, reinterpret_cast<uint16_t*>(&this->voltages_ext[0]), 41);
return 49;
}
std::string MavLinkBatteryStatus::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"BATTERY_STATUS\", \"id\": 147, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"current_consumed\":" << this->current_consumed;
ss << ", \"energy_consumed\":" << this->energy_consumed;
ss << ", \"temperature\":" << this->temperature;
ss << ", \"voltages\":"
<< "[" << uint16_t_array_tostring(10, reinterpret_cast<uint16_t*>(&this->voltages[0])) << "]";
ss << ", \"current_battery\":" << this->current_battery;
ss << ", \"id\":" << static_cast<unsigned int>(this->id);
ss << ", \"battery_function\":" << static_cast<unsigned int>(this->battery_function);
ss << ", \"type\":" << static_cast<unsigned int>(this->type);
ss << ", \"battery_remaining\":" << static_cast<int>(this->battery_remaining);
ss << ", \"time_remaining\":" << this->time_remaining;
ss << ", \"charge_state\":" << static_cast<unsigned int>(this->charge_state);
ss << ", \"voltages_ext\":"
<< "[" << uint16_t_array_tostring(4, reinterpret_cast<uint16_t*>(&this->voltages_ext[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkAutopilotVersion::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->capabilities), 0);
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->uid), 8);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->flight_sw_version), 16);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->middleware_sw_version), 20);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->os_sw_version), 24);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->board_version), 28);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->vendor_id), 32);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->product_id), 34);
pack_uint8_t_array(8, buffer, reinterpret_cast<const uint8_t*>(&this->flight_custom_version[0]), 36);
pack_uint8_t_array(8, buffer, reinterpret_cast<const uint8_t*>(&this->middleware_custom_version[0]), 44);
pack_uint8_t_array(8, buffer, reinterpret_cast<const uint8_t*>(&this->os_custom_version[0]), 52);
pack_uint8_t_array(18, buffer, reinterpret_cast<const uint8_t*>(&this->uid2[0]), 60);
return 78;
}
int MavLinkAutopilotVersion::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->capabilities), 0);
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->uid), 8);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->flight_sw_version), 16);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->middleware_sw_version), 20);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->os_sw_version), 24);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->board_version), 28);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->vendor_id), 32);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->product_id), 34);
unpack_uint8_t_array(8, buffer, reinterpret_cast<uint8_t*>(&this->flight_custom_version[0]), 36);
unpack_uint8_t_array(8, buffer, reinterpret_cast<uint8_t*>(&this->middleware_custom_version[0]), 44);
unpack_uint8_t_array(8, buffer, reinterpret_cast<uint8_t*>(&this->os_custom_version[0]), 52);
unpack_uint8_t_array(18, buffer, reinterpret_cast<uint8_t*>(&this->uid2[0]), 60);
return 78;
}
std::string MavLinkAutopilotVersion::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"AUTOPILOT_VERSION\", \"id\": 148, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"capabilities\":" << this->capabilities;
ss << ", \"uid\":" << this->uid;
ss << ", \"flight_sw_version\":" << this->flight_sw_version;
ss << ", \"middleware_sw_version\":" << this->middleware_sw_version;
ss << ", \"os_sw_version\":" << this->os_sw_version;
ss << ", \"board_version\":" << this->board_version;
ss << ", \"vendor_id\":" << this->vendor_id;
ss << ", \"product_id\":" << this->product_id;
ss << ", \"flight_custom_version\":"
<< "[" << uint8_t_array_tostring(8, reinterpret_cast<uint8_t*>(&this->flight_custom_version[0])) << "]";
ss << ", \"middleware_custom_version\":"
<< "[" << uint8_t_array_tostring(8, reinterpret_cast<uint8_t*>(&this->middleware_custom_version[0])) << "]";
ss << ", \"os_custom_version\":"
<< "[" << uint8_t_array_tostring(8, reinterpret_cast<uint8_t*>(&this->os_custom_version[0])) << "]";
ss << ", \"uid2\":"
<< "[" << uint8_t_array_tostring(18, reinterpret_cast<uint8_t*>(&this->uid2[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkLandingTarget::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->angle_x), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->angle_y), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->distance), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->size_x), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->size_y), 24);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_num), 28);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->frame), 29);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 30);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 34);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 38);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->q[0]), 42);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->type), 58);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->position_valid), 59);
return 60;
}
int MavLinkLandingTarget::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->angle_x), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->angle_y), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->distance), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->size_x), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->size_y), 24);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_num), 28);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->frame), 29);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 30);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 34);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 38);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->q[0]), 42);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->type), 58);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->position_valid), 59);
return 60;
}
std::string MavLinkLandingTarget::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"LANDING_TARGET\", \"id\": 149, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"angle_x\":" << float_tostring(this->angle_x);
ss << ", \"angle_y\":" << float_tostring(this->angle_y);
ss << ", \"distance\":" << float_tostring(this->distance);
ss << ", \"size_x\":" << float_tostring(this->size_x);
ss << ", \"size_y\":" << float_tostring(this->size_y);
ss << ", \"target_num\":" << static_cast<unsigned int>(this->target_num);
ss << ", \"frame\":" << static_cast<unsigned int>(this->frame);
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"q\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->q[0])) << "]";
ss << ", \"type\":" << static_cast<unsigned int>(this->type);
ss << ", \"position_valid\":" << static_cast<unsigned int>(this->position_valid);
ss << "} },";
return ss.str();
}
int MavLinkFenceStatus::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->breach_time), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->breach_count), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->breach_status), 6);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->breach_type), 7);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->breach_mitigation), 8);
return 9;
}
int MavLinkFenceStatus::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->breach_time), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->breach_count), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->breach_status), 6);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->breach_type), 7);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->breach_mitigation), 8);
return 9;
}
std::string MavLinkFenceStatus::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"FENCE_STATUS\", \"id\": 162, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"breach_time\":" << this->breach_time;
ss << ", \"breach_count\":" << this->breach_count;
ss << ", \"breach_status\":" << static_cast<unsigned int>(this->breach_status);
ss << ", \"breach_type\":" << static_cast<unsigned int>(this->breach_type);
ss << ", \"breach_mitigation\":" << static_cast<unsigned int>(this->breach_mitigation);
ss << "} },";
return ss.str();
}
int MavLinkEstimatorStatus::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->vel_ratio), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->pos_horiz_ratio), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->pos_vert_ratio), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->mag_ratio), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->hagl_ratio), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->tas_ratio), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->pos_horiz_accuracy), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->pos_vert_accuracy), 36);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->flags), 40);
return 42;
}
int MavLinkEstimatorStatus::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->vel_ratio), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->pos_horiz_ratio), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->pos_vert_ratio), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->mag_ratio), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->hagl_ratio), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->tas_ratio), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->pos_horiz_accuracy), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->pos_vert_accuracy), 36);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->flags), 40);
return 42;
}
std::string MavLinkEstimatorStatus::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"ESTIMATOR_STATUS\", \"id\": 230, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"vel_ratio\":" << float_tostring(this->vel_ratio);
ss << ", \"pos_horiz_ratio\":" << float_tostring(this->pos_horiz_ratio);
ss << ", \"pos_vert_ratio\":" << float_tostring(this->pos_vert_ratio);
ss << ", \"mag_ratio\":" << float_tostring(this->mag_ratio);
ss << ", \"hagl_ratio\":" << float_tostring(this->hagl_ratio);
ss << ", \"tas_ratio\":" << float_tostring(this->tas_ratio);
ss << ", \"pos_horiz_accuracy\":" << float_tostring(this->pos_horiz_accuracy);
ss << ", \"pos_vert_accuracy\":" << float_tostring(this->pos_vert_accuracy);
ss << ", \"flags\":" << this->flags;
ss << "} },";
return ss.str();
}
int MavLinkWindCov::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->wind_x), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->wind_y), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->wind_z), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->var_horiz), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->var_vert), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->wind_alt), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->horiz_accuracy), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->vert_accuracy), 36);
return 40;
}
int MavLinkWindCov::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->wind_x), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->wind_y), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->wind_z), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->var_horiz), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->var_vert), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->wind_alt), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->horiz_accuracy), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->vert_accuracy), 36);
return 40;
}
std::string MavLinkWindCov::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"WIND_COV\", \"id\": 231, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"wind_x\":" << float_tostring(this->wind_x);
ss << ", \"wind_y\":" << float_tostring(this->wind_y);
ss << ", \"wind_z\":" << float_tostring(this->wind_z);
ss << ", \"var_horiz\":" << float_tostring(this->var_horiz);
ss << ", \"var_vert\":" << float_tostring(this->var_vert);
ss << ", \"wind_alt\":" << float_tostring(this->wind_alt);
ss << ", \"horiz_accuracy\":" << float_tostring(this->horiz_accuracy);
ss << ", \"vert_accuracy\":" << float_tostring(this->vert_accuracy);
ss << "} },";
return ss.str();
}
int MavLinkGpsInput::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_week_ms), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 12);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->alt), 20);
pack_float(buffer, reinterpret_cast<const float*>(&this->hdop), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->vdop), 28);
pack_float(buffer, reinterpret_cast<const float*>(&this->vn), 32);
pack_float(buffer, reinterpret_cast<const float*>(&this->ve), 36);
pack_float(buffer, reinterpret_cast<const float*>(&this->vd), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->speed_accuracy), 44);
pack_float(buffer, reinterpret_cast<const float*>(&this->horiz_accuracy), 48);
pack_float(buffer, reinterpret_cast<const float*>(&this->vert_accuracy), 52);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->ignore_flags), 56);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->time_week), 58);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->gps_id), 60);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->fix_type), 61);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->satellites_visible), 62);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->yaw), 63);
return 65;
}
int MavLinkGpsInput::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_week_ms), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 12);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->alt), 20);
unpack_float(buffer, reinterpret_cast<float*>(&this->hdop), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->vdop), 28);
unpack_float(buffer, reinterpret_cast<float*>(&this->vn), 32);
unpack_float(buffer, reinterpret_cast<float*>(&this->ve), 36);
unpack_float(buffer, reinterpret_cast<float*>(&this->vd), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->speed_accuracy), 44);
unpack_float(buffer, reinterpret_cast<float*>(&this->horiz_accuracy), 48);
unpack_float(buffer, reinterpret_cast<float*>(&this->vert_accuracy), 52);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->ignore_flags), 56);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->time_week), 58);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->gps_id), 60);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->fix_type), 61);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->satellites_visible), 62);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->yaw), 63);
return 65;
}
std::string MavLinkGpsInput::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GPS_INPUT\", \"id\": 232, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"time_week_ms\":" << this->time_week_ms;
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"alt\":" << float_tostring(this->alt);
ss << ", \"hdop\":" << float_tostring(this->hdop);
ss << ", \"vdop\":" << float_tostring(this->vdop);
ss << ", \"vn\":" << float_tostring(this->vn);
ss << ", \"ve\":" << float_tostring(this->ve);
ss << ", \"vd\":" << float_tostring(this->vd);
ss << ", \"speed_accuracy\":" << float_tostring(this->speed_accuracy);
ss << ", \"horiz_accuracy\":" << float_tostring(this->horiz_accuracy);
ss << ", \"vert_accuracy\":" << float_tostring(this->vert_accuracy);
ss << ", \"ignore_flags\":" << this->ignore_flags;
ss << ", \"time_week\":" << this->time_week;
ss << ", \"gps_id\":" << static_cast<unsigned int>(this->gps_id);
ss << ", \"fix_type\":" << static_cast<unsigned int>(this->fix_type);
ss << ", \"satellites_visible\":" << static_cast<unsigned int>(this->satellites_visible);
ss << ", \"yaw\":" << this->yaw;
ss << "} },";
return ss.str();
}
int MavLinkGpsRtcmData::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->flags), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->len), 1);
pack_uint8_t_array(180, buffer, reinterpret_cast<const uint8_t*>(&this->data[0]), 2);
return 182;
}
int MavLinkGpsRtcmData::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->flags), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->len), 1);
unpack_uint8_t_array(180, buffer, reinterpret_cast<uint8_t*>(&this->data[0]), 2);
return 182;
}
std::string MavLinkGpsRtcmData::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"GPS_RTCM_DATA\", \"id\": 233, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"flags\":" << static_cast<unsigned int>(this->flags);
ss << ", \"len\":" << static_cast<unsigned int>(this->len);
ss << ", \"data\":"
<< "[" << uint8_t_array_tostring(180, reinterpret_cast<uint8_t*>(&this->data[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkHighLatency::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->custom_mode), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->latitude), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->longitude), 8);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->roll), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->pitch), 14);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->heading), 16);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->heading_sp), 18);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->altitude_amsl), 20);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->altitude_sp), 22);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->wp_distance), 24);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->base_mode), 26);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->landed_state), 27);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->throttle), 28);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->airspeed), 29);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->airspeed_sp), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->groundspeed), 31);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->climb_rate), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->gps_nsat), 33);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->gps_fix_type), 34);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->battery_remaining), 35);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->temperature), 36);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->temperature_air), 37);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->failsafe), 38);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->wp_num), 39);
return 40;
}
int MavLinkHighLatency::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->custom_mode), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->latitude), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->longitude), 8);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->roll), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->pitch), 14);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->heading), 16);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->heading_sp), 18);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->altitude_amsl), 20);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->altitude_sp), 22);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->wp_distance), 24);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->base_mode), 26);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->landed_state), 27);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->throttle), 28);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->airspeed), 29);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->airspeed_sp), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->groundspeed), 31);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->climb_rate), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->gps_nsat), 33);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->gps_fix_type), 34);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->battery_remaining), 35);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->temperature), 36);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->temperature_air), 37);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->failsafe), 38);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->wp_num), 39);
return 40;
}
std::string MavLinkHighLatency::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIGH_LATENCY\", \"id\": 234, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"custom_mode\":" << this->custom_mode;
ss << ", \"latitude\":" << this->latitude;
ss << ", \"longitude\":" << this->longitude;
ss << ", \"roll\":" << this->roll;
ss << ", \"pitch\":" << this->pitch;
ss << ", \"heading\":" << this->heading;
ss << ", \"heading_sp\":" << this->heading_sp;
ss << ", \"altitude_amsl\":" << this->altitude_amsl;
ss << ", \"altitude_sp\":" << this->altitude_sp;
ss << ", \"wp_distance\":" << this->wp_distance;
ss << ", \"base_mode\":" << static_cast<unsigned int>(this->base_mode);
ss << ", \"landed_state\":" << static_cast<unsigned int>(this->landed_state);
ss << ", \"throttle\":" << static_cast<int>(this->throttle);
ss << ", \"airspeed\":" << static_cast<unsigned int>(this->airspeed);
ss << ", \"airspeed_sp\":" << static_cast<unsigned int>(this->airspeed_sp);
ss << ", \"groundspeed\":" << static_cast<unsigned int>(this->groundspeed);
ss << ", \"climb_rate\":" << static_cast<int>(this->climb_rate);
ss << ", \"gps_nsat\":" << static_cast<unsigned int>(this->gps_nsat);
ss << ", \"gps_fix_type\":" << static_cast<unsigned int>(this->gps_fix_type);
ss << ", \"battery_remaining\":" << static_cast<unsigned int>(this->battery_remaining);
ss << ", \"temperature\":" << static_cast<int>(this->temperature);
ss << ", \"temperature_air\":" << static_cast<int>(this->temperature_air);
ss << ", \"failsafe\":" << static_cast<unsigned int>(this->failsafe);
ss << ", \"wp_num\":" << static_cast<unsigned int>(this->wp_num);
ss << "} },";
return ss.str();
}
int MavLinkHighLatency2::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->timestamp), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->latitude), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->longitude), 8);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->custom_mode), 12);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->altitude), 14);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->target_altitude), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->target_distance), 18);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->wp_num), 20);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->failure_flags), 22);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->type), 24);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->autopilot), 25);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->heading), 26);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_heading), 27);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->throttle), 28);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->airspeed), 29);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->airspeed_sp), 30);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->groundspeed), 31);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->windspeed), 32);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->wind_heading), 33);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->eph), 34);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->epv), 35);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->temperature_air), 36);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->climb_rate), 37);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->battery), 38);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->custom0), 39);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->custom1), 40);
pack_int8_t(buffer, reinterpret_cast<const int8_t*>(&this->custom2), 41);
return 42;
}
int MavLinkHighLatency2::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->timestamp), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->latitude), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->longitude), 8);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->custom_mode), 12);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->altitude), 14);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->target_altitude), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->target_distance), 18);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->wp_num), 20);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->failure_flags), 22);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->type), 24);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->autopilot), 25);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->heading), 26);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_heading), 27);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->throttle), 28);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->airspeed), 29);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->airspeed_sp), 30);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->groundspeed), 31);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->windspeed), 32);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->wind_heading), 33);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->eph), 34);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->epv), 35);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->temperature_air), 36);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->climb_rate), 37);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->battery), 38);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->custom0), 39);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->custom1), 40);
unpack_int8_t(buffer, reinterpret_cast<int8_t*>(&this->custom2), 41);
return 42;
}
std::string MavLinkHighLatency2::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HIGH_LATENCY2\", \"id\": 235, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"timestamp\":" << this->timestamp;
ss << ", \"latitude\":" << this->latitude;
ss << ", \"longitude\":" << this->longitude;
ss << ", \"custom_mode\":" << this->custom_mode;
ss << ", \"altitude\":" << this->altitude;
ss << ", \"target_altitude\":" << this->target_altitude;
ss << ", \"target_distance\":" << this->target_distance;
ss << ", \"wp_num\":" << this->wp_num;
ss << ", \"failure_flags\":" << this->failure_flags;
ss << ", \"type\":" << static_cast<unsigned int>(this->type);
ss << ", \"autopilot\":" << static_cast<unsigned int>(this->autopilot);
ss << ", \"heading\":" << static_cast<unsigned int>(this->heading);
ss << ", \"target_heading\":" << static_cast<unsigned int>(this->target_heading);
ss << ", \"throttle\":" << static_cast<unsigned int>(this->throttle);
ss << ", \"airspeed\":" << static_cast<unsigned int>(this->airspeed);
ss << ", \"airspeed_sp\":" << static_cast<unsigned int>(this->airspeed_sp);
ss << ", \"groundspeed\":" << static_cast<unsigned int>(this->groundspeed);
ss << ", \"windspeed\":" << static_cast<unsigned int>(this->windspeed);
ss << ", \"wind_heading\":" << static_cast<unsigned int>(this->wind_heading);
ss << ", \"eph\":" << static_cast<unsigned int>(this->eph);
ss << ", \"epv\":" << static_cast<unsigned int>(this->epv);
ss << ", \"temperature_air\":" << static_cast<int>(this->temperature_air);
ss << ", \"climb_rate\":" << static_cast<int>(this->climb_rate);
ss << ", \"battery\":" << static_cast<int>(this->battery);
ss << ", \"custom0\":" << static_cast<int>(this->custom0);
ss << ", \"custom1\":" << static_cast<int>(this->custom1);
ss << ", \"custom2\":" << static_cast<int>(this->custom2);
ss << "} },";
return ss.str();
}
int MavLinkVibration::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->vibration_x), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->vibration_y), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->vibration_z), 16);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->clipping_0), 20);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->clipping_1), 24);
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->clipping_2), 28);
return 32;
}
int MavLinkVibration::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->vibration_x), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->vibration_y), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->vibration_z), 16);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->clipping_0), 20);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->clipping_1), 24);
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->clipping_2), 28);
return 32;
}
std::string MavLinkVibration::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"VIBRATION\", \"id\": 241, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"vibration_x\":" << float_tostring(this->vibration_x);
ss << ", \"vibration_y\":" << float_tostring(this->vibration_y);
ss << ", \"vibration_z\":" << float_tostring(this->vibration_z);
ss << ", \"clipping_0\":" << this->clipping_0;
ss << ", \"clipping_1\":" << this->clipping_1;
ss << ", \"clipping_2\":" << this->clipping_2;
ss << "} },";
return ss.str();
}
int MavLinkHomePosition::pack(char* buffer) const
{
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->latitude), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->longitude), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->altitude), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 20);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->q[0]), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->approach_x), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->approach_y), 44);
pack_float(buffer, reinterpret_cast<const float*>(&this->approach_z), 48);
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 52);
return 60;
}
int MavLinkHomePosition::unpack(const char* buffer)
{
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->latitude), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->longitude), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->altitude), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 20);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->q[0]), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->approach_x), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->approach_y), 44);
unpack_float(buffer, reinterpret_cast<float*>(&this->approach_z), 48);
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 52);
return 60;
}
std::string MavLinkHomePosition::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"HOME_POSITION\", \"id\": 242, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"latitude\":" << this->latitude;
ss << ", \"longitude\":" << this->longitude;
ss << ", \"altitude\":" << this->altitude;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"q\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->q[0])) << "]";
ss << ", \"approach_x\":" << float_tostring(this->approach_x);
ss << ", \"approach_y\":" << float_tostring(this->approach_y);
ss << ", \"approach_z\":" << float_tostring(this->approach_z);
ss << ", \"time_usec\":" << this->time_usec;
ss << "} },";
return ss.str();
}
int MavLinkSetHomePosition::pack(char* buffer) const
{
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->latitude), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->longitude), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->altitude), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 16);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 20);
pack_float_array(4, buffer, reinterpret_cast<const float*>(&this->q[0]), 24);
pack_float(buffer, reinterpret_cast<const float*>(&this->approach_x), 40);
pack_float(buffer, reinterpret_cast<const float*>(&this->approach_y), 44);
pack_float(buffer, reinterpret_cast<const float*>(&this->approach_z), 48);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 52);
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 53);
return 61;
}
int MavLinkSetHomePosition::unpack(const char* buffer)
{
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->latitude), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->longitude), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->altitude), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 16);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 20);
unpack_float_array(4, buffer, reinterpret_cast<float*>(&this->q[0]), 24);
unpack_float(buffer, reinterpret_cast<float*>(&this->approach_x), 40);
unpack_float(buffer, reinterpret_cast<float*>(&this->approach_y), 44);
unpack_float(buffer, reinterpret_cast<float*>(&this->approach_z), 48);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 52);
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 53);
return 61;
}
std::string MavLinkSetHomePosition::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"SET_HOME_POSITION\", \"id\": 243, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"latitude\":" << this->latitude;
ss << ", \"longitude\":" << this->longitude;
ss << ", \"altitude\":" << this->altitude;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"q\":"
<< "[" << float_array_tostring(4, reinterpret_cast<float*>(&this->q[0])) << "]";
ss << ", \"approach_x\":" << float_tostring(this->approach_x);
ss << ", \"approach_y\":" << float_tostring(this->approach_y);
ss << ", \"approach_z\":" << float_tostring(this->approach_z);
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"time_usec\":" << this->time_usec;
ss << "} },";
return ss.str();
}
int MavLinkMessageInterval::pack(char* buffer) const
{
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->interval_us), 0);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->message_id), 4);
return 6;
}
int MavLinkMessageInterval::unpack(const char* buffer)
{
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->interval_us), 0);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->message_id), 4);
return 6;
}
std::string MavLinkMessageInterval::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MESSAGE_INTERVAL\", \"id\": 244, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"interval_us\":" << this->interval_us;
ss << ", \"message_id\":" << this->message_id;
ss << "} },";
return ss.str();
}
int MavLinkExtendedSysState::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->vtol_state), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->landed_state), 1);
return 2;
}
int MavLinkExtendedSysState::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->vtol_state), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->landed_state), 1);
return 2;
}
std::string MavLinkExtendedSysState::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"EXTENDED_SYS_STATE\", \"id\": 245, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"vtol_state\":" << static_cast<unsigned int>(this->vtol_state);
ss << ", \"landed_state\":" << static_cast<unsigned int>(this->landed_state);
ss << "} },";
return ss.str();
}
int MavLinkAdsbVehicle::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->ICAO_address), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lat), 4);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->lon), 8);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->altitude), 12);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->heading), 16);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->hor_velocity), 18);
pack_int16_t(buffer, reinterpret_cast<const int16_t*>(&this->ver_velocity), 20);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->flags), 22);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->squawk), 24);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->altitude_type), 26);
pack_char_array(9, buffer, reinterpret_cast<const char*>(&this->callsign[0]), 27);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->emitter_type), 36);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->tslc), 37);
return 38;
}
int MavLinkAdsbVehicle::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->ICAO_address), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lat), 4);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->lon), 8);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->altitude), 12);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->heading), 16);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->hor_velocity), 18);
unpack_int16_t(buffer, reinterpret_cast<int16_t*>(&this->ver_velocity), 20);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->flags), 22);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->squawk), 24);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->altitude_type), 26);
unpack_char_array(9, buffer, reinterpret_cast<char*>(&this->callsign[0]), 27);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->emitter_type), 36);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->tslc), 37);
return 38;
}
std::string MavLinkAdsbVehicle::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"ADSB_VEHICLE\", \"id\": 246, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"ICAO_address\":" << this->ICAO_address;
ss << ", \"lat\":" << this->lat;
ss << ", \"lon\":" << this->lon;
ss << ", \"altitude\":" << this->altitude;
ss << ", \"heading\":" << this->heading;
ss << ", \"hor_velocity\":" << this->hor_velocity;
ss << ", \"ver_velocity\":" << this->ver_velocity;
ss << ", \"flags\":" << this->flags;
ss << ", \"squawk\":" << this->squawk;
ss << ", \"altitude_type\":" << static_cast<unsigned int>(this->altitude_type);
ss << ", \"callsign\":"
<< "\"" << char_array_tostring(9, reinterpret_cast<char*>(&this->callsign[0])) << "\"";
ss << ", \"emitter_type\":" << static_cast<unsigned int>(this->emitter_type);
ss << ", \"tslc\":" << static_cast<unsigned int>(this->tslc);
ss << "} },";
return ss.str();
}
int MavLinkCollision::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->id), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->time_to_minimum_delta), 4);
pack_float(buffer, reinterpret_cast<const float*>(&this->altitude_minimum_delta), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->horizontal_minimum_delta), 12);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->src), 16);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->action), 17);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->threat_level), 18);
return 19;
}
int MavLinkCollision::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->id), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->time_to_minimum_delta), 4);
unpack_float(buffer, reinterpret_cast<float*>(&this->altitude_minimum_delta), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->horizontal_minimum_delta), 12);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->src), 16);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->action), 17);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->threat_level), 18);
return 19;
}
std::string MavLinkCollision::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"COLLISION\", \"id\": 247, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"id\":" << this->id;
ss << ", \"time_to_minimum_delta\":" << float_tostring(this->time_to_minimum_delta);
ss << ", \"altitude_minimum_delta\":" << float_tostring(this->altitude_minimum_delta);
ss << ", \"horizontal_minimum_delta\":" << float_tostring(this->horizontal_minimum_delta);
ss << ", \"src\":" << static_cast<unsigned int>(this->src);
ss << ", \"action\":" << static_cast<unsigned int>(this->action);
ss << ", \"threat_level\":" << static_cast<unsigned int>(this->threat_level);
ss << "} },";
return ss.str();
}
int MavLinkV2Extension::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->message_type), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_network), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_system), 3);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->target_component), 4);
pack_uint8_t_array(249, buffer, reinterpret_cast<const uint8_t*>(&this->payload[0]), 5);
return 254;
}
int MavLinkV2Extension::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->message_type), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_network), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_system), 3);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->target_component), 4);
unpack_uint8_t_array(249, buffer, reinterpret_cast<uint8_t*>(&this->payload[0]), 5);
return 254;
}
std::string MavLinkV2Extension::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"V2_EXTENSION\", \"id\": 248, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"message_type\":" << this->message_type;
ss << ", \"target_network\":" << static_cast<unsigned int>(this->target_network);
ss << ", \"target_system\":" << static_cast<unsigned int>(this->target_system);
ss << ", \"target_component\":" << static_cast<unsigned int>(this->target_component);
ss << ", \"payload\":"
<< "[" << uint8_t_array_tostring(249, reinterpret_cast<uint8_t*>(&this->payload[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkMemoryVect::pack(char* buffer) const
{
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->address), 0);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->ver), 2);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->type), 3);
pack_int8_t_array(32, buffer, reinterpret_cast<const int8_t*>(&this->value[0]), 4);
return 36;
}
int MavLinkMemoryVect::unpack(const char* buffer)
{
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->address), 0);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->ver), 2);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->type), 3);
unpack_int8_t_array(32, buffer, reinterpret_cast<int8_t*>(&this->value[0]), 4);
return 36;
}
std::string MavLinkMemoryVect::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"MEMORY_VECT\", \"id\": 249, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"address\":" << this->address;
ss << ", \"ver\":" << static_cast<unsigned int>(this->ver);
ss << ", \"type\":" << static_cast<unsigned int>(this->type);
ss << ", \"value\":"
<< "[" << int8_t_array_tostring(32, reinterpret_cast<int8_t*>(&this->value[0])) << "]";
ss << "} },";
return ss.str();
}
int MavLinkDebugVect::pack(char* buffer) const
{
pack_uint64_t(buffer, reinterpret_cast<const uint64_t*>(&this->time_usec), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->x), 8);
pack_float(buffer, reinterpret_cast<const float*>(&this->y), 12);
pack_float(buffer, reinterpret_cast<const float*>(&this->z), 16);
pack_char_array(10, buffer, reinterpret_cast<const char*>(&this->name[0]), 20);
return 30;
}
int MavLinkDebugVect::unpack(const char* buffer)
{
unpack_uint64_t(buffer, reinterpret_cast<uint64_t*>(&this->time_usec), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->x), 8);
unpack_float(buffer, reinterpret_cast<float*>(&this->y), 12);
unpack_float(buffer, reinterpret_cast<float*>(&this->z), 16);
unpack_char_array(10, buffer, reinterpret_cast<char*>(&this->name[0]), 20);
return 30;
}
std::string MavLinkDebugVect::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"DEBUG_VECT\", \"id\": 250, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_usec\":" << this->time_usec;
ss << ", \"x\":" << float_tostring(this->x);
ss << ", \"y\":" << float_tostring(this->y);
ss << ", \"z\":" << float_tostring(this->z);
ss << ", \"name\":"
<< "\"" << char_array_tostring(10, reinterpret_cast<char*>(&this->name[0])) << "\"";
ss << "} },";
return ss.str();
}
int MavLinkNamedValueFloat::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->value), 4);
pack_char_array(10, buffer, reinterpret_cast<const char*>(&this->name[0]), 8);
return 18;
}
int MavLinkNamedValueFloat::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->value), 4);
unpack_char_array(10, buffer, reinterpret_cast<char*>(&this->name[0]), 8);
return 18;
}
std::string MavLinkNamedValueFloat::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"NAMED_VALUE_FLOAT\", \"id\": 251, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"value\":" << float_tostring(this->value);
ss << ", \"name\":"
<< "\"" << char_array_tostring(10, reinterpret_cast<char*>(&this->name[0])) << "\"";
ss << "} },";
return ss.str();
}
int MavLinkNamedValueInt::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_int32_t(buffer, reinterpret_cast<const int32_t*>(&this->value), 4);
pack_char_array(10, buffer, reinterpret_cast<const char*>(&this->name[0]), 8);
return 18;
}
int MavLinkNamedValueInt::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_int32_t(buffer, reinterpret_cast<int32_t*>(&this->value), 4);
unpack_char_array(10, buffer, reinterpret_cast<char*>(&this->name[0]), 8);
return 18;
}
std::string MavLinkNamedValueInt::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"NAMED_VALUE_INT\", \"id\": 252, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"value\":" << this->value;
ss << ", \"name\":"
<< "\"" << char_array_tostring(10, reinterpret_cast<char*>(&this->name[0])) << "\"";
ss << "} },";
return ss.str();
}
int MavLinkStatustext::pack(char* buffer) const
{
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->severity), 0);
pack_char_array(50, buffer, reinterpret_cast<const char*>(&this->text[0]), 1);
pack_uint16_t(buffer, reinterpret_cast<const uint16_t*>(&this->id), 51);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->chunk_seq), 53);
return 54;
}
int MavLinkStatustext::unpack(const char* buffer)
{
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->severity), 0);
unpack_char_array(50, buffer, reinterpret_cast<char*>(&this->text[0]), 1);
unpack_uint16_t(buffer, reinterpret_cast<uint16_t*>(&this->id), 51);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->chunk_seq), 53);
return 54;
}
std::string MavLinkStatustext::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"STATUSTEXT\", \"id\": 253, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"severity\":" << static_cast<unsigned int>(this->severity);
ss << ", \"text\":"
<< "\"" << char_array_tostring(50, reinterpret_cast<char*>(&this->text[0])) << "\"";
ss << ", \"id\":" << this->id;
ss << ", \"chunk_seq\":" << static_cast<unsigned int>(this->chunk_seq);
ss << "} },";
return ss.str();
}
int MavLinkDebug::pack(char* buffer) const
{
pack_uint32_t(buffer, reinterpret_cast<const uint32_t*>(&this->time_boot_ms), 0);
pack_float(buffer, reinterpret_cast<const float*>(&this->value), 4);
pack_uint8_t(buffer, reinterpret_cast<const uint8_t*>(&this->ind), 8);
return 9;
}
int MavLinkDebug::unpack(const char* buffer)
{
unpack_uint32_t(buffer, reinterpret_cast<uint32_t*>(&this->time_boot_ms), 0);
unpack_float(buffer, reinterpret_cast<float*>(&this->value), 4);
unpack_uint8_t(buffer, reinterpret_cast<uint8_t*>(&this->ind), 8);
return 9;
}
std::string MavLinkDebug::toJSon()
{
std::ostringstream ss;
ss << "{ \"name\": \"DEBUG\", \"id\": 254, \"timestamp\":" << timestamp << ", \"msg\": {";
ss << "\"time_boot_ms\":" << this->time_boot_ms;
ss << ", \"value\":" << float_tostring(this->value);
ss << ", \"ind\":" << static_cast<unsigned int>(this->ind);
ss << "} },";
return ss.str();
}
void MavCmdNavWaypoint::pack()
{
param1 = Hold;
param2 = AcceptRadius;
param3 = PassRadius;
param4 = Yaw;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavWaypoint::unpack()
{
Hold = param1;
AcceptRadius = param2;
PassRadius = param3;
Yaw = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavLoiterUnlim::pack()
{
param3 = Radius;
param4 = Yaw;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavLoiterUnlim::unpack()
{
Radius = param3;
Yaw = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavLoiterTurns::pack()
{
param1 = Turns;
param2 = HeadingRequired;
param3 = Radius;
param4 = XtrackLocation;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavLoiterTurns::unpack()
{
Turns = param1;
HeadingRequired = param2;
Radius = param3;
XtrackLocation = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavLoiterTime::pack()
{
param1 = Time;
param2 = HeadingRequired;
param3 = Radius;
param4 = XtrackLocation;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavLoiterTime::unpack()
{
Time = param1;
HeadingRequired = param2;
Radius = param3;
XtrackLocation = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavReturnToLaunch::pack()
{
}
void MavCmdNavReturnToLaunch::unpack()
{
}
void MavCmdNavLand::pack()
{
param1 = AbortAlt;
param2 = LandMode;
param4 = YawAngle;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavLand::unpack()
{
AbortAlt = param1;
LandMode = param2;
YawAngle = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavTakeoff::pack()
{
param1 = Pitch;
param4 = Yaw;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavTakeoff::unpack()
{
Pitch = param1;
Yaw = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavLandLocal::pack()
{
param1 = Target;
param2 = Offset;
param3 = DescendRate;
param4 = Yaw;
param5 = YPosition;
param6 = XPosition;
param7 = ZPosition;
}
void MavCmdNavLandLocal::unpack()
{
Target = param1;
Offset = param2;
DescendRate = param3;
Yaw = param4;
YPosition = param5;
XPosition = param6;
ZPosition = param7;
}
void MavCmdNavTakeoffLocal::pack()
{
param1 = Pitch;
param3 = AscendRate;
param4 = Yaw;
param5 = YPosition;
param6 = XPosition;
param7 = ZPosition;
}
void MavCmdNavTakeoffLocal::unpack()
{
Pitch = param1;
AscendRate = param3;
Yaw = param4;
YPosition = param5;
XPosition = param6;
ZPosition = param7;
}
void MavCmdNavFollow::pack()
{
param1 = Following;
param2 = GroundSpeed;
param3 = Radius;
param4 = Yaw;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavFollow::unpack()
{
Following = param1;
GroundSpeed = param2;
Radius = param3;
Yaw = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavContinueAndChangeAlt::pack()
{
param1 = Action;
param7 = Altitude;
}
void MavCmdNavContinueAndChangeAlt::unpack()
{
Action = param1;
Altitude = param7;
}
void MavCmdNavLoiterToAlt::pack()
{
param1 = HeadingRequired;
param2 = Radius;
param4 = XtrackLocation;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavLoiterToAlt::unpack()
{
HeadingRequired = param1;
Radius = param2;
XtrackLocation = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdDoFollow::pack()
{
param1 = SystemId;
param4 = AltitudeMode;
param5 = Altitude;
param7 = TimeToLand;
}
void MavCmdDoFollow::unpack()
{
SystemId = param1;
AltitudeMode = param4;
Altitude = param5;
TimeToLand = param7;
}
void MavCmdDoFollowReposition::pack()
{
param1 = CameraQp1;
param2 = CameraQp2;
param3 = CameraQp3;
param4 = CameraQp4;
param5 = AltitudeOffset;
param6 = XOffset;
param7 = YOffset;
}
void MavCmdDoFollowReposition::unpack()
{
CameraQp1 = param1;
CameraQp2 = param2;
CameraQp3 = param3;
CameraQp4 = param4;
AltitudeOffset = param5;
XOffset = param6;
YOffset = param7;
}
void MavCmdDoOrbit::pack()
{
param1 = Radius;
param2 = Velocity;
param3 = YawBehavior;
param5 = Latitudepx;
param6 = Longitudepy;
param7 = Altitudepz;
}
void MavCmdDoOrbit::unpack()
{
Radius = param1;
Velocity = param2;
YawBehavior = param3;
Latitudepx = param5;
Longitudepy = param6;
Altitudepz = param7;
}
void MavCmdNavRoi::pack()
{
param1 = RoiMode;
param2 = WpIndex;
param3 = RoiIndex;
param5 = X;
param6 = Y;
param7 = Z;
}
void MavCmdNavRoi::unpack()
{
RoiMode = param1;
WpIndex = param2;
RoiIndex = param3;
X = param5;
Y = param6;
Z = param7;
}
void MavCmdNavPathplanning::pack()
{
param1 = LocalCtrl;
param2 = GlobalCtrl;
param4 = Yaw;
param5 = Latitudepx;
param6 = Longitudepy;
param7 = Altitudepz;
}
void MavCmdNavPathplanning::unpack()
{
LocalCtrl = param1;
GlobalCtrl = param2;
Yaw = param4;
Latitudepx = param5;
Longitudepy = param6;
Altitudepz = param7;
}
void MavCmdNavSplineWaypoint::pack()
{
param1 = Hold;
param5 = Latitudepx;
param6 = Longitudepy;
param7 = Altitudepz;
}
void MavCmdNavSplineWaypoint::unpack()
{
Hold = param1;
Latitudepx = param5;
Longitudepy = param6;
Altitudepz = param7;
}
void MavCmdNavVtolTakeoff::pack()
{
param2 = TransitionHeading;
param4 = YawAngle;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavVtolTakeoff::unpack()
{
TransitionHeading = param2;
YawAngle = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavVtolLand::pack()
{
param3 = ApproachAltitude;
param4 = Yaw;
param5 = Latitude;
param6 = Longitude;
param7 = GroundAltitude;
}
void MavCmdNavVtolLand::unpack()
{
ApproachAltitude = param3;
Yaw = param4;
Latitude = param5;
Longitude = param6;
GroundAltitude = param7;
}
void MavCmdNavGuidedEnable::pack()
{
param1 = Enable;
}
void MavCmdNavGuidedEnable::unpack()
{
Enable = param1;
}
void MavCmdNavDelay::pack()
{
param1 = Delay;
param2 = Hour;
param3 = Minute;
param4 = Second;
}
void MavCmdNavDelay::unpack()
{
Delay = param1;
Hour = param2;
Minute = param3;
Second = param4;
}
void MavCmdNavPayloadPlace::pack()
{
param1 = MaxDescent;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavPayloadPlace::unpack()
{
MaxDescent = param1;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavLast::pack()
{
}
void MavCmdNavLast::unpack()
{
}
void MavCmdConditionDelay::pack()
{
param1 = Delay;
}
void MavCmdConditionDelay::unpack()
{
Delay = param1;
}
void MavCmdConditionChangeAlt::pack()
{
param1 = Rate;
param7 = Altitude;
}
void MavCmdConditionChangeAlt::unpack()
{
Rate = param1;
Altitude = param7;
}
void MavCmdConditionDistance::pack()
{
param1 = Distance;
}
void MavCmdConditionDistance::unpack()
{
Distance = param1;
}
void MavCmdConditionYaw::pack()
{
param1 = Angle;
param2 = AngularSpeed;
param3 = Direction;
param4 = Relative;
}
void MavCmdConditionYaw::unpack()
{
Angle = param1;
AngularSpeed = param2;
Direction = param3;
Relative = param4;
}
void MavCmdConditionLast::pack()
{
}
void MavCmdConditionLast::unpack()
{
}
void MavCmdDoSetMode::pack()
{
param1 = Mode;
param2 = CustomMode;
param3 = CustomSubmode;
}
void MavCmdDoSetMode::unpack()
{
Mode = param1;
CustomMode = param2;
CustomSubmode = param3;
}
void MavCmdDoJump::pack()
{
param1 = Number;
param2 = Repeat;
}
void MavCmdDoJump::unpack()
{
Number = param1;
Repeat = param2;
}
void MavCmdDoChangeSpeed::pack()
{
param1 = SpeedType;
param2 = Speed;
param3 = Throttle;
param4 = Relative;
}
void MavCmdDoChangeSpeed::unpack()
{
SpeedType = param1;
Speed = param2;
Throttle = param3;
Relative = param4;
}
void MavCmdDoSetHome::pack()
{
param1 = UseCurrent;
param4 = Yaw;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdDoSetHome::unpack()
{
UseCurrent = param1;
Yaw = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdDoSetParameter::pack()
{
param1 = Number;
param2 = Value;
}
void MavCmdDoSetParameter::unpack()
{
Number = param1;
Value = param2;
}
void MavCmdDoSetRelay::pack()
{
param1 = Instance;
param2 = Setting;
}
void MavCmdDoSetRelay::unpack()
{
Instance = param1;
Setting = param2;
}
void MavCmdDoRepeatRelay::pack()
{
param1 = Instance;
param2 = Count;
param3 = Time;
}
void MavCmdDoRepeatRelay::unpack()
{
Instance = param1;
Count = param2;
Time = param3;
}
void MavCmdDoSetServo::pack()
{
param1 = Instance;
param2 = Pwm;
}
void MavCmdDoSetServo::unpack()
{
Instance = param1;
Pwm = param2;
}
void MavCmdDoRepeatServo::pack()
{
param1 = Instance;
param2 = Pwm;
param3 = Count;
param4 = Time;
}
void MavCmdDoRepeatServo::unpack()
{
Instance = param1;
Pwm = param2;
Count = param3;
Time = param4;
}
void MavCmdDoFlighttermination::pack()
{
param1 = Terminate;
}
void MavCmdDoFlighttermination::unpack()
{
Terminate = param1;
}
void MavCmdDoChangeAltitude::pack()
{
param1 = Altitude;
param2 = Frame;
}
void MavCmdDoChangeAltitude::unpack()
{
Altitude = param1;
Frame = param2;
}
void MavCmdDoSetActuator::pack()
{
param1 = ActuatorP1;
param2 = ActuatorP2;
param3 = ActuatorP3;
param4 = ActuatorP4;
param5 = ActuatorP5;
param6 = ActuatorP6;
param7 = Index;
}
void MavCmdDoSetActuator::unpack()
{
ActuatorP1 = param1;
ActuatorP2 = param2;
ActuatorP3 = param3;
ActuatorP4 = param4;
ActuatorP5 = param5;
ActuatorP6 = param6;
Index = param7;
}
void MavCmdDoLandStart::pack()
{
param5 = Latitude;
param6 = Longitude;
}
void MavCmdDoLandStart::unpack()
{
Latitude = param5;
Longitude = param6;
}
void MavCmdDoRallyLand::pack()
{
param1 = Altitude;
param2 = Speed;
}
void MavCmdDoRallyLand::unpack()
{
Altitude = param1;
Speed = param2;
}
void MavCmdDoGoAround::pack()
{
param1 = Altitude;
}
void MavCmdDoGoAround::unpack()
{
Altitude = param1;
}
void MavCmdDoReposition::pack()
{
param1 = Speed;
param2 = Bitmask;
param4 = Yaw;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdDoReposition::unpack()
{
Speed = param1;
Bitmask = param2;
Yaw = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdDoPauseContinue::pack()
{
param1 = Continue;
}
void MavCmdDoPauseContinue::unpack()
{
Continue = param1;
}
void MavCmdDoSetReverse::pack()
{
param1 = Reverse;
}
void MavCmdDoSetReverse::unpack()
{
Reverse = param1;
}
void MavCmdDoSetRoiLocation::pack()
{
param1 = GimbalDeviceId;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdDoSetRoiLocation::unpack()
{
GimbalDeviceId = param1;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdDoSetRoiWpnextOffset::pack()
{
param1 = GimbalDeviceId;
param5 = PitchOffset;
param6 = RollOffset;
param7 = YawOffset;
}
void MavCmdDoSetRoiWpnextOffset::unpack()
{
GimbalDeviceId = param1;
PitchOffset = param5;
RollOffset = param6;
YawOffset = param7;
}
void MavCmdDoSetRoiNone::pack()
{
param1 = GimbalDeviceId;
}
void MavCmdDoSetRoiNone::unpack()
{
GimbalDeviceId = param1;
}
void MavCmdDoSetRoiSysid::pack()
{
param1 = SystemId;
param2 = GimbalDeviceId;
}
void MavCmdDoSetRoiSysid::unpack()
{
SystemId = param1;
GimbalDeviceId = param2;
}
void MavCmdDoControlVideo::pack()
{
param1 = Id;
param2 = Transmission;
param3 = Interval;
param4 = Recording;
}
void MavCmdDoControlVideo::unpack()
{
Id = param1;
Transmission = param2;
Interval = param3;
Recording = param4;
}
void MavCmdDoSetRoi::pack()
{
param1 = RoiMode;
param2 = WpIndex;
param3 = RoiIndex;
param5 = MavRoiWpnext;
param6 = MavRoiWpnext2;
param7 = MavRoiWpnext3;
}
void MavCmdDoSetRoi::unpack()
{
RoiMode = param1;
WpIndex = param2;
RoiIndex = param3;
MavRoiWpnext = param5;
MavRoiWpnext2 = param6;
MavRoiWpnext3 = param7;
}
void MavCmdDoDigicamConfigure::pack()
{
param1 = Mode;
param2 = ShutterSpeed;
param3 = Aperture;
param4 = Iso;
param5 = Exposure;
param6 = CommandIdentity;
param7 = EngineCutpoff;
}
void MavCmdDoDigicamConfigure::unpack()
{
Mode = param1;
ShutterSpeed = param2;
Aperture = param3;
Iso = param4;
Exposure = param5;
CommandIdentity = param6;
EngineCutpoff = param7;
}
void MavCmdDoDigicamControl::pack()
{
param1 = SessionControl;
param2 = ZoomAbsolute;
param3 = ZoomRelative;
param4 = Focus;
param5 = ShootCommand;
param6 = CommandIdentity;
param7 = ShotId;
}
void MavCmdDoDigicamControl::unpack()
{
SessionControl = param1;
ZoomAbsolute = param2;
ZoomRelative = param3;
Focus = param4;
ShootCommand = param5;
CommandIdentity = param6;
ShotId = param7;
}
void MavCmdDoMountConfigure::pack()
{
param1 = Mode;
param2 = StabilizeRoll;
param3 = StabilizePitch;
param4 = StabilizeYaw;
param5 = RollInputMode;
param6 = PitchInputMode;
param7 = YawInputMode;
}
void MavCmdDoMountConfigure::unpack()
{
Mode = param1;
StabilizeRoll = param2;
StabilizePitch = param3;
StabilizeYaw = param4;
RollInputMode = param5;
PitchInputMode = param6;
YawInputMode = param7;
}
void MavCmdDoMountControl::pack()
{
param1 = Pitch;
param2 = Roll;
param3 = Yaw;
param4 = Altitude;
param5 = Latitude;
param6 = Longitude;
param7 = Mode;
}
void MavCmdDoMountControl::unpack()
{
Pitch = param1;
Roll = param2;
Yaw = param3;
Altitude = param4;
Latitude = param5;
Longitude = param6;
Mode = param7;
}
void MavCmdDoSetCamTriggDist::pack()
{
param1 = Distance;
param2 = Shutter;
param3 = Trigger;
}
void MavCmdDoSetCamTriggDist::unpack()
{
Distance = param1;
Shutter = param2;
Trigger = param3;
}
void MavCmdDoFenceEnable::pack()
{
param1 = Enable;
}
void MavCmdDoFenceEnable::unpack()
{
Enable = param1;
}
void MavCmdDoParachute::pack()
{
param1 = Action;
}
void MavCmdDoParachute::unpack()
{
Action = param1;
}
void MavCmdDoMotorTest::pack()
{
param1 = Instance;
param2 = ThrottleType;
param3 = Throttle;
param4 = Timeout;
param5 = MotorCount;
param6 = TestOrder;
}
void MavCmdDoMotorTest::unpack()
{
Instance = param1;
ThrottleType = param2;
Throttle = param3;
Timeout = param4;
MotorCount = param5;
TestOrder = param6;
}
void MavCmdDoInvertedFlight::pack()
{
param1 = Inverted;
}
void MavCmdDoInvertedFlight::unpack()
{
Inverted = param1;
}
void MavCmdNavSetYawSpeed::pack()
{
param1 = Yaw;
param2 = Speed;
param3 = Angle;
}
void MavCmdNavSetYawSpeed::unpack()
{
Yaw = param1;
Speed = param2;
Angle = param3;
}
void MavCmdDoSetCamTriggInterval::pack()
{
param1 = TriggerCycle;
param2 = ShutterIntegration;
}
void MavCmdDoSetCamTriggInterval::unpack()
{
TriggerCycle = param1;
ShutterIntegration = param2;
}
void MavCmdDoMountControlQuat::pack()
{
param1 = Qp1;
param2 = Qp2;
param3 = Qp3;
param4 = Qp4;
}
void MavCmdDoMountControlQuat::unpack()
{
Qp1 = param1;
Qp2 = param2;
Qp3 = param3;
Qp4 = param4;
}
void MavCmdDoGuidedMaster::pack()
{
param1 = SystemId;
param2 = ComponentId;
}
void MavCmdDoGuidedMaster::unpack()
{
SystemId = param1;
ComponentId = param2;
}
void MavCmdDoGuidedLimits::pack()
{
param1 = Timeout;
param2 = MinAltitude;
param3 = MaxAltitude;
param4 = HorizpMoveLimit;
}
void MavCmdDoGuidedLimits::unpack()
{
Timeout = param1;
MinAltitude = param2;
MaxAltitude = param3;
HorizpMoveLimit = param4;
}
void MavCmdDoEngineControl::pack()
{
param1 = StartEngine;
param2 = ColdStart;
param3 = HeightDelay;
}
void MavCmdDoEngineControl::unpack()
{
StartEngine = param1;
ColdStart = param2;
HeightDelay = param3;
}
void MavCmdDoSetMissionCurrent::pack()
{
param1 = Number;
}
void MavCmdDoSetMissionCurrent::unpack()
{
Number = param1;
}
void MavCmdDoLast::pack()
{
}
void MavCmdDoLast::unpack()
{
}
void MavCmdPreflightCalibration::pack()
{
param1 = GyroTemperature;
param2 = Magnetometer;
param3 = GroundPressure;
param4 = RemoteControl;
param5 = Accelerometer;
param6 = CompmotOrAirspeed;
param7 = EscOrBaro;
}
void MavCmdPreflightCalibration::unpack()
{
GyroTemperature = param1;
Magnetometer = param2;
GroundPressure = param3;
RemoteControl = param4;
Accelerometer = param5;
CompmotOrAirspeed = param6;
EscOrBaro = param7;
}
void MavCmdPreflightSetSensorOffsets::pack()
{
param1 = SensorType;
param2 = XOffset;
param3 = YOffset;
param4 = ZOffset;
param5 = P4thDimension;
param6 = P5thDimension;
param7 = P6thDimension;
}
void MavCmdPreflightSetSensorOffsets::unpack()
{
SensorType = param1;
XOffset = param2;
YOffset = param3;
ZOffset = param4;
P4thDimension = param5;
P5thDimension = param6;
P6thDimension = param7;
}
void MavCmdPreflightUavcan::pack()
{
param1 = ActuatorId;
}
void MavCmdPreflightUavcan::unpack()
{
ActuatorId = param1;
}
void MavCmdPreflightStorage::pack()
{
param1 = ParameterStorage;
param2 = MissionStorage;
param3 = LoggingRate;
}
void MavCmdPreflightStorage::unpack()
{
ParameterStorage = param1;
MissionStorage = param2;
LoggingRate = param3;
}
void MavCmdPreflightRebootShutdown::pack()
{
param1 = Autopilot;
param2 = Companion;
param3 = Wip;
param4 = Wip2;
param7 = Wip3;
}
void MavCmdPreflightRebootShutdown::unpack()
{
Autopilot = param1;
Companion = param2;
Wip = param3;
Wip2 = param4;
Wip3 = param7;
}
void MavCmdDoUpgrade::pack()
{
param1 = ComponentId;
param2 = Reboot;
param7 = Wip;
}
void MavCmdDoUpgrade::unpack()
{
ComponentId = param1;
Reboot = param2;
Wip = param7;
}
void MavCmdOverrideGoto::pack()
{
param1 = Continue;
param2 = Position;
param3 = Frame;
param4 = Yaw;
param5 = Latitudepx;
param6 = Longitudepy;
param7 = Altitudepz;
}
void MavCmdOverrideGoto::unpack()
{
Continue = param1;
Position = param2;
Frame = param3;
Yaw = param4;
Latitudepx = param5;
Longitudepy = param6;
Altitudepz = param7;
}
void MavCmdMissionStart::pack()
{
param1 = FirstItem;
param2 = LastItem;
}
void MavCmdMissionStart::unpack()
{
FirstItem = param1;
LastItem = param2;
}
void MavCmdComponentArmDisarm::pack()
{
param1 = Arm;
param2 = Force;
}
void MavCmdComponentArmDisarm::unpack()
{
Arm = param1;
Force = param2;
}
void MavCmdIlluminatorOnOff::pack()
{
param1 = Enable;
}
void MavCmdIlluminatorOnOff::unpack()
{
Enable = param1;
}
void MavCmdGetHomePosition::pack()
{
}
void MavCmdGetHomePosition::unpack()
{
}
void MavCmdInjectFailure::pack()
{
param1 = FailureUnit;
param2 = FailureType;
param3 = Instance;
}
void MavCmdInjectFailure::unpack()
{
FailureUnit = param1;
FailureType = param2;
Instance = param3;
}
void MavCmdStartRxPair::pack()
{
param1 = Spektrum;
param2 = RcType;
}
void MavCmdStartRxPair::unpack()
{
Spektrum = param1;
RcType = param2;
}
void MavCmdGetMessageInterval::pack()
{
param1 = MessageId;
}
void MavCmdGetMessageInterval::unpack()
{
MessageId = param1;
}
void MavCmdSetMessageInterval::pack()
{
param1 = MessageId;
param2 = Interval;
param3 = ResponseTarget;
}
void MavCmdSetMessageInterval::unpack()
{
MessageId = param1;
Interval = param2;
ResponseTarget = param3;
}
void MavCmdRequestMessage::pack()
{
param1 = MessageId;
param2 = ReqParamP1;
param3 = ReqParamP2;
param4 = ReqParamP3;
param5 = ReqParamP4;
param6 = ReqParamP5;
param7 = ResponseTarget;
}
void MavCmdRequestMessage::unpack()
{
MessageId = param1;
ReqParamP1 = param2;
ReqParamP2 = param3;
ReqParamP3 = param4;
ReqParamP4 = param5;
ReqParamP5 = param6;
ResponseTarget = param7;
}
void MavCmdRequestProtocolVersion::pack()
{
param1 = Protocol;
}
void MavCmdRequestProtocolVersion::unpack()
{
Protocol = param1;
}
void MavCmdRequestAutopilotCapabilities::pack()
{
param1 = Version;
}
void MavCmdRequestAutopilotCapabilities::unpack()
{
Version = param1;
}
void MavCmdRequestCameraInformation::pack()
{
param1 = Capabilities;
}
void MavCmdRequestCameraInformation::unpack()
{
Capabilities = param1;
}
void MavCmdRequestCameraSettings::pack()
{
param1 = Settings;
}
void MavCmdRequestCameraSettings::unpack()
{
Settings = param1;
}
void MavCmdRequestStorageInformation::pack()
{
param1 = StorageId;
param2 = Information;
}
void MavCmdRequestStorageInformation::unpack()
{
StorageId = param1;
Information = param2;
}
void MavCmdStorageFormat::pack()
{
param1 = StorageId;
param2 = Format;
param3 = ResetImageLog;
}
void MavCmdStorageFormat::unpack()
{
StorageId = param1;
Format = param2;
ResetImageLog = param3;
}
void MavCmdRequestCameraCaptureStatus::pack()
{
param1 = CaptureStatus;
}
void MavCmdRequestCameraCaptureStatus::unpack()
{
CaptureStatus = param1;
}
void MavCmdRequestFlightInformation::pack()
{
param1 = FlightInformation;
}
void MavCmdRequestFlightInformation::unpack()
{
FlightInformation = param1;
}
void MavCmdResetCameraSettings::pack()
{
param1 = Reset;
}
void MavCmdResetCameraSettings::unpack()
{
Reset = param1;
}
void MavCmdSetCameraMode::pack()
{
param2 = CameraMode;
}
void MavCmdSetCameraMode::unpack()
{
CameraMode = param2;
}
void MavCmdSetCameraZoom::pack()
{
param1 = ZoomType;
param2 = ZoomValue;
}
void MavCmdSetCameraZoom::unpack()
{
ZoomType = param1;
ZoomValue = param2;
}
void MavCmdSetCameraFocus::pack()
{
param1 = FocusType;
param2 = FocusValue;
}
void MavCmdSetCameraFocus::unpack()
{
FocusType = param1;
FocusValue = param2;
}
void MavCmdJumpTag::pack()
{
param1 = Tag;
}
void MavCmdJumpTag::unpack()
{
Tag = param1;
}
void MavCmdDoJumpTag::pack()
{
param1 = Tag;
param2 = Repeat;
}
void MavCmdDoJumpTag::unpack()
{
Tag = param1;
Repeat = param2;
}
void MavCmdDoGimbalManagerTiltpan::pack()
{
param1 = TiltRate;
param2 = PanRate;
param3 = TiltAngle;
param4 = PanAngle;
param5 = GimbalManagerFlags;
param6 = GimbalDeviceId;
}
void MavCmdDoGimbalManagerTiltpan::unpack()
{
TiltRate = param1;
PanRate = param2;
TiltAngle = param3;
PanAngle = param4;
GimbalManagerFlags = param5;
GimbalDeviceId = param6;
}
void MavCmdImageStartCapture::pack()
{
param2 = Interval;
param3 = CaptureCount;
param4 = SequenceNumber;
}
void MavCmdImageStartCapture::unpack()
{
Interval = param2;
CaptureCount = param3;
SequenceNumber = param4;
}
void MavCmdImageStopCapture::pack()
{
}
void MavCmdImageStopCapture::unpack()
{
}
void MavCmdRequestCameraImageCapture::pack()
{
param1 = Number;
}
void MavCmdRequestCameraImageCapture::unpack()
{
Number = param1;
}
void MavCmdDoTriggerControl::pack()
{
param1 = Enable;
param2 = Reset;
param3 = Pause;
}
void MavCmdDoTriggerControl::unpack()
{
Enable = param1;
Reset = param2;
Pause = param3;
}
void MavCmdCameraTrackPoint::pack()
{
param1 = PointX;
param2 = PointY;
param3 = Radius;
}
void MavCmdCameraTrackPoint::unpack()
{
PointX = param1;
PointY = param2;
Radius = param3;
}
void MavCmdCameraTrackRectangle::pack()
{
param1 = TopLeftCorner;
param2 = TopLeftCorner2;
param3 = BottomRightCorner;
param4 = BottomRightCorner2;
}
void MavCmdCameraTrackRectangle::unpack()
{
TopLeftCorner = param1;
TopLeftCorner2 = param2;
BottomRightCorner = param3;
BottomRightCorner2 = param4;
}
void MavCmdCameraStopTracking::pack()
{
}
void MavCmdCameraStopTracking::unpack()
{
}
void MavCmdVideoStartCapture::pack()
{
param1 = StreamId;
param2 = StatusFrequency;
}
void MavCmdVideoStartCapture::unpack()
{
StreamId = param1;
StatusFrequency = param2;
}
void MavCmdVideoStopCapture::pack()
{
param1 = StreamId;
}
void MavCmdVideoStopCapture::unpack()
{
StreamId = param1;
}
void MavCmdVideoStartStreaming::pack()
{
param1 = StreamId;
}
void MavCmdVideoStartStreaming::unpack()
{
StreamId = param1;
}
void MavCmdVideoStopStreaming::pack()
{
param1 = StreamId;
}
void MavCmdVideoStopStreaming::unpack()
{
StreamId = param1;
}
void MavCmdRequestVideoStreamInformation::pack()
{
param1 = StreamId;
}
void MavCmdRequestVideoStreamInformation::unpack()
{
StreamId = param1;
}
void MavCmdRequestVideoStreamStatus::pack()
{
param1 = StreamId;
}
void MavCmdRequestVideoStreamStatus::unpack()
{
StreamId = param1;
}
void MavCmdLoggingStart::pack()
{
param1 = Format;
}
void MavCmdLoggingStart::unpack()
{
Format = param1;
}
void MavCmdLoggingStop::pack()
{
}
void MavCmdLoggingStop::unpack()
{
}
void MavCmdAirframeConfiguration::pack()
{
param1 = LandingGearId;
param2 = LandingGearPosition;
}
void MavCmdAirframeConfiguration::unpack()
{
LandingGearId = param1;
LandingGearPosition = param2;
}
void MavCmdControlHighLatency::pack()
{
param1 = Enable;
}
void MavCmdControlHighLatency::unpack()
{
Enable = param1;
}
void MavCmdPanoramaCreate::pack()
{
param1 = HorizontalAngle;
param2 = VerticalAngle;
param3 = HorizontalSpeed;
param4 = VerticalSpeed;
}
void MavCmdPanoramaCreate::unpack()
{
HorizontalAngle = param1;
VerticalAngle = param2;
HorizontalSpeed = param3;
VerticalSpeed = param4;
}
void MavCmdDoVtolTransition::pack()
{
param1 = State;
}
void MavCmdDoVtolTransition::unpack()
{
State = param1;
}
void MavCmdArmAuthorizationRequest::pack()
{
param1 = SystemId;
}
void MavCmdArmAuthorizationRequest::unpack()
{
SystemId = param1;
}
void MavCmdSetGuidedSubmodeStandard::pack()
{
}
void MavCmdSetGuidedSubmodeStandard::unpack()
{
}
void MavCmdSetGuidedSubmodeCircle::pack()
{
param1 = Radius;
param2 = UserDefined;
param3 = UserDefined2;
param4 = UserDefined3;
param5 = Latitude;
param6 = Longitude;
}
void MavCmdSetGuidedSubmodeCircle::unpack()
{
Radius = param1;
UserDefined = param2;
UserDefined2 = param3;
UserDefined3 = param4;
Latitude = param5;
Longitude = param6;
}
void MavCmdConditionGate::pack()
{
param1 = Geometry;
param2 = Usealtitude;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdConditionGate::unpack()
{
Geometry = param1;
Usealtitude = param2;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavFenceReturnPoint::pack()
{
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavFenceReturnPoint::unpack()
{
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdNavFencePolygonVertexInclusion::pack()
{
param1 = VertexCount;
param5 = Latitude;
param6 = Longitude;
}
void MavCmdNavFencePolygonVertexInclusion::unpack()
{
VertexCount = param1;
Latitude = param5;
Longitude = param6;
}
void MavCmdNavFencePolygonVertexExclusion::pack()
{
param1 = VertexCount;
param5 = Latitude;
param6 = Longitude;
}
void MavCmdNavFencePolygonVertexExclusion::unpack()
{
VertexCount = param1;
Latitude = param5;
Longitude = param6;
}
void MavCmdNavFenceCircleInclusion::pack()
{
param1 = Radius;
param5 = Latitude;
param6 = Longitude;
}
void MavCmdNavFenceCircleInclusion::unpack()
{
Radius = param1;
Latitude = param5;
Longitude = param6;
}
void MavCmdNavFenceCircleExclusion::pack()
{
param1 = Radius;
param5 = Latitude;
param6 = Longitude;
}
void MavCmdNavFenceCircleExclusion::unpack()
{
Radius = param1;
Latitude = param5;
Longitude = param6;
}
void MavCmdNavRallyPoint::pack()
{
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdNavRallyPoint::unpack()
{
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdUavcanGetNodeInfo::pack()
{
}
void MavCmdUavcanGetNodeInfo::unpack()
{
}
void MavCmdPayloadPrepareDeploy::pack()
{
param1 = OperationMode;
param2 = ApproachVector;
param3 = GroundSpeed;
param4 = AltitudeClearance;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdPayloadPrepareDeploy::unpack()
{
OperationMode = param1;
ApproachVector = param2;
GroundSpeed = param3;
AltitudeClearance = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdPayloadControlDeploy::pack()
{
param1 = OperationMode;
}
void MavCmdPayloadControlDeploy::unpack()
{
OperationMode = param1;
}
void MavCmdWaypointUser1::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdWaypointUser1::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdWaypointUser2::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdWaypointUser2::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdWaypointUser3::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdWaypointUser3::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdWaypointUser4::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdWaypointUser4::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdWaypointUser5::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdWaypointUser5::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdSpatialUser1::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdSpatialUser1::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdSpatialUser2::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdSpatialUser2::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdSpatialUser3::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdSpatialUser3::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdSpatialUser4::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdSpatialUser4::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdSpatialUser5::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = Latitude;
param6 = Longitude;
param7 = Altitude;
}
void MavCmdSpatialUser5::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
Latitude = param5;
Longitude = param6;
Altitude = param7;
}
void MavCmdUser1::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = UserDefined5;
param6 = UserDefined6;
param7 = UserDefined7;
}
void MavCmdUser1::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
UserDefined5 = param5;
UserDefined6 = param6;
UserDefined7 = param7;
}
void MavCmdUser2::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = UserDefined5;
param6 = UserDefined6;
param7 = UserDefined7;
}
void MavCmdUser2::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
UserDefined5 = param5;
UserDefined6 = param6;
UserDefined7 = param7;
}
void MavCmdUser3::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = UserDefined5;
param6 = UserDefined6;
param7 = UserDefined7;
}
void MavCmdUser3::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
UserDefined5 = param5;
UserDefined6 = param6;
UserDefined7 = param7;
}
void MavCmdUser4::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = UserDefined5;
param6 = UserDefined6;
param7 = UserDefined7;
}
void MavCmdUser4::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
UserDefined5 = param5;
UserDefined6 = param6;
UserDefined7 = param7;
}
void MavCmdUser5::pack()
{
param1 = UserDefined;
param2 = UserDefined2;
param3 = UserDefined3;
param4 = UserDefined4;
param5 = UserDefined5;
param6 = UserDefined6;
param7 = UserDefined7;
}
void MavCmdUser5::unpack()
{
UserDefined = param1;
UserDefined2 = param2;
UserDefined3 = param3;
UserDefined4 = param4;
UserDefined5 = param5;
UserDefined6 = param6;
UserDefined7 = param7;
}
MavLinkMessageBase* MavLinkMessageBase::lookup(const MavLinkMessage& msg)
{
MavLinkMessageBase* result = nullptr;
switch (static_cast<MavLinkMessageIds>(msg.msgid)) {
case MavLinkMessageIds::MAVLINK_MSG_ID_HEARTBEAT:
result = new MavLinkHeartbeat();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SYS_STATUS:
result = new MavLinkSysStatus();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SYSTEM_TIME:
result = new MavLinkSystemTime();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_PING:
result = new MavLinkPing();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL:
result = new MavLinkChangeOperatorControl();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK:
result = new MavLinkChangeOperatorControlAck();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_AUTH_KEY:
result = new MavLinkAuthKey();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LINK_NODE_STATUS:
result = new MavLinkLinkNodeStatus();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SET_MODE:
result = new MavLinkSetMode();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_PARAM_ACK_TRANSACTION:
result = new MavLinkParamAckTransaction();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_PARAM_REQUEST_READ:
result = new MavLinkParamRequestRead();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
result = new MavLinkParamRequestList();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_PARAM_VALUE:
result = new MavLinkParamValue();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_PARAM_SET:
result = new MavLinkParamSet();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GPS_RAW_INT:
result = new MavLinkGpsRawInt();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GPS_STATUS:
result = new MavLinkGpsStatus();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SCALED_IMU:
result = new MavLinkScaledImu();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_RAW_IMU:
result = new MavLinkRawImu();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_RAW_PRESSURE:
result = new MavLinkRawPressure();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SCALED_PRESSURE:
result = new MavLinkScaledPressure();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_ATTITUDE:
result = new MavLinkAttitude();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_ATTITUDE_QUATERNION:
result = new MavLinkAttitudeQuaternion();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LOCAL_POSITION_NED:
result = new MavLinkLocalPositionNed();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
result = new MavLinkGlobalPositionInt();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
result = new MavLinkRcChannelsScaled();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_RC_CHANNELS_RAW:
result = new MavLinkRcChannelsRaw();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
result = new MavLinkServoOutputRaw();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST:
result = new MavLinkMissionRequestPartialList();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
result = new MavLinkMissionWritePartialList();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_ITEM:
result = new MavLinkMissionItem();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_REQUEST:
result = new MavLinkMissionRequest();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_SET_CURRENT:
result = new MavLinkMissionSetCurrent();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_CURRENT:
result = new MavLinkMissionCurrent();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
result = new MavLinkMissionRequestList();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_COUNT:
result = new MavLinkMissionCount();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
result = new MavLinkMissionClearAll();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_ITEM_REACHED:
result = new MavLinkMissionItemReached();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_ACK:
result = new MavLinkMissionAck();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
result = new MavLinkSetGpsGlobalOrigin();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
result = new MavLinkGpsGlobalOrigin();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_PARAM_MAP_RC:
result = new MavLinkParamMapRc();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_REQUEST_INT:
result = new MavLinkMissionRequestInt();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_CHANGED:
result = new MavLinkMissionChanged();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA:
result = new MavLinkSafetySetAllowedArea();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA:
result = new MavLinkSafetyAllowedArea();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV:
result = new MavLinkAttitudeQuaternionCov();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
result = new MavLinkNavControllerOutput();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV:
result = new MavLinkGlobalPositionIntCov();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV:
result = new MavLinkLocalPositionNedCov();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_RC_CHANNELS:
result = new MavLinkRcChannels();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
result = new MavLinkRequestDataStream();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_DATA_STREAM:
result = new MavLinkDataStream();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MANUAL_CONTROL:
result = new MavLinkManualControl();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
result = new MavLinkRcChannelsOverride();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MISSION_ITEM_INT:
result = new MavLinkMissionItemInt();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_VFR_HUD:
result = new MavLinkVfrHud();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_COMMAND_INT:
result = new MavLinkCommandInt();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_COMMAND_LONG:
result = new MavLinkCommandLong();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_COMMAND_ACK:
result = new MavLinkCommandAck();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_COMMAND_CANCEL:
result = new MavLinkCommandCancel();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MANUAL_SETPOINT:
result = new MavLinkManualSetpoint();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
result = new MavLinkSetAttitudeTarget();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_ATTITUDE_TARGET:
result = new MavLinkAttitudeTarget();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
result = new MavLinkSetPositionTargetLocalNed();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
result = new MavLinkPositionTargetLocalNed();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
result = new MavLinkSetPositionTargetGlobalInt();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT:
result = new MavLinkPositionTargetGlobalInt();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET:
result = new MavLinkLocalPositionNedSystemGlobalOffset();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIL_STATE:
result = new MavLinkHilState();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIL_CONTROLS:
result = new MavLinkHilControls();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW:
result = new MavLinkHilRcInputsRaw();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
result = new MavLinkHilActuatorControls();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_OPTICAL_FLOW:
result = new MavLinkOpticalFlow();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE:
result = new MavLinkGlobalVisionPositionEstimate();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
result = new MavLinkVisionPositionEstimate();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE:
result = new MavLinkVisionSpeedEstimate();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
result = new MavLinkViconPositionEstimate();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIGHRES_IMU:
result = new MavLinkHighresImu();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
result = new MavLinkOpticalFlowRad();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIL_SENSOR:
result = new MavLinkHilSensor();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SIM_STATE:
result = new MavLinkSimState();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_RADIO_STATUS:
result = new MavLinkRadioStatus();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
result = new MavLinkFileTransferProtocol();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_TIMESYNC:
result = new MavLinkTimesync();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_CAMERA_TRIGGER:
result = new MavLinkCameraTrigger();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIL_GPS:
result = new MavLinkHilGps();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIL_OPTICAL_FLOW:
result = new MavLinkHilOpticalFlow();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
result = new MavLinkHilStateQuaternion();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SCALED_IMU2:
result = new MavLinkScaledImu2();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LOG_REQUEST_LIST:
result = new MavLinkLogRequestList();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LOG_ENTRY:
result = new MavLinkLogEntry();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LOG_REQUEST_DATA:
result = new MavLinkLogRequestData();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LOG_DATA:
result = new MavLinkLogData();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LOG_ERASE:
result = new MavLinkLogErase();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LOG_REQUEST_END:
result = new MavLinkLogRequestEnd();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GPS_INJECT_DATA:
result = new MavLinkGpsInjectData();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GPS2_RAW:
result = new MavLinkGps2Raw();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_POWER_STATUS:
result = new MavLinkPowerStatus();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SERIAL_CONTROL:
result = new MavLinkSerialControl();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GPS_RTK:
result = new MavLinkGpsRtk();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GPS2_RTK:
result = new MavLinkGps2Rtk();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SCALED_IMU3:
result = new MavLinkScaledImu3();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE:
result = new MavLinkDataTransmissionHandshake();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_ENCAPSULATED_DATA:
result = new MavLinkEncapsulatedData();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_DISTANCE_SENSOR:
result = new MavLinkDistanceSensor();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_TERRAIN_REQUEST:
result = new MavLinkTerrainRequest();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_TERRAIN_DATA:
result = new MavLinkTerrainData();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_TERRAIN_CHECK:
result = new MavLinkTerrainCheck();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_TERRAIN_REPORT:
result = new MavLinkTerrainReport();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SCALED_PRESSURE2:
result = new MavLinkScaledPressure2();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_ATT_POS_MOCAP:
result = new MavLinkAttPosMocap();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
result = new MavLinkSetActuatorControlTarget();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET:
result = new MavLinkActuatorControlTarget();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_ALTITUDE:
result = new MavLinkAltitude();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_RESOURCE_REQUEST:
result = new MavLinkResourceRequest();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SCALED_PRESSURE3:
result = new MavLinkScaledPressure3();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_FOLLOW_TARGET:
result = new MavLinkFollowTarget();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE:
result = new MavLinkControlSystemState();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_BATTERY_STATUS:
result = new MavLinkBatteryStatus();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_AUTOPILOT_VERSION:
result = new MavLinkAutopilotVersion();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_LANDING_TARGET:
result = new MavLinkLandingTarget();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_FENCE_STATUS:
result = new MavLinkFenceStatus();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_ESTIMATOR_STATUS:
result = new MavLinkEstimatorStatus();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_WIND_COV:
result = new MavLinkWindCov();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GPS_INPUT:
result = new MavLinkGpsInput();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_GPS_RTCM_DATA:
result = new MavLinkGpsRtcmData();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIGH_LATENCY:
result = new MavLinkHighLatency();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HIGH_LATENCY2:
result = new MavLinkHighLatency2();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_VIBRATION:
result = new MavLinkVibration();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_HOME_POSITION:
result = new MavLinkHomePosition();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_SET_HOME_POSITION:
result = new MavLinkSetHomePosition();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MESSAGE_INTERVAL:
result = new MavLinkMessageInterval();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_EXTENDED_SYS_STATE:
result = new MavLinkExtendedSysState();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_ADSB_VEHICLE:
result = new MavLinkAdsbVehicle();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_COLLISION:
result = new MavLinkCollision();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_V2_EXTENSION:
result = new MavLinkV2Extension();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_MEMORY_VECT:
result = new MavLinkMemoryVect();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_DEBUG_VECT:
result = new MavLinkDebugVect();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
result = new MavLinkNamedValueFloat();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_NAMED_VALUE_INT:
result = new MavLinkNamedValueInt();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_STATUSTEXT:
result = new MavLinkStatustext();
break;
case MavLinkMessageIds::MAVLINK_MSG_ID_DEBUG:
result = new MavLinkDebug();
break;
default:
break;
}
if (result != nullptr) {
result->decode(msg);
}
return result;
}
| AirSim/MavLinkCom/src/MavLinkMessages.cpp/0 | {
"file_path": "AirSim/MavLinkCom/src/MavLinkMessages.cpp",
"repo_id": "AirSim",
"token_count": 147560
} | 29 |
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#ifndef MavLinkCom_MavLinkTcpServerImpl_hpp
#define MavLinkCom_MavLinkTcpServerImpl_hpp
#include <memory>
#include <vector>
#include <string>
#include "MavLinkTcpServer.hpp"
using namespace mavlinkcom;
class TcpClientPort;
namespace mavlinkcom_impl
{
class MavLinkTcpServerImpl
{
public:
MavLinkTcpServerImpl(const std::string& local_addr, int local_port);
~MavLinkTcpServerImpl();
// accept one new connection from a remote machine.
std::shared_ptr<MavLinkConnection> acceptTcp(const std::string& nodeName);
private:
std::string local_address_;
int local_port_;
std::string accept_node_name_;
std::shared_ptr<TcpClientPort> server_;
};
}
#endif
| AirSim/MavLinkCom/src/impl/MavLinkTcpServerImpl.hpp/0 | {
"file_path": "AirSim/MavLinkCom/src/impl/MavLinkTcpServerImpl.hpp",
"repo_id": "AirSim",
"token_count": 282
} | 30 |
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#ifndef SERIAL_COM_TCPCLIENTPORT_HPP
#define SERIAL_COM_TCPCLIENTPORT_HPP
#include "Port.h"
class TcpClientPort : public Port
{
public:
TcpClientPort();
~TcpClientPort();
// Connect can set you up two different ways. Pass 0 for local port to get any free local
// port. localHost allows you to be specific about which local adapter to use in case you
// have multiple ethernet adapters.
void connect(const std::string& localHost, int localPort, const std::string& remoteHost, int remotePort);
// start listening on the local adapter, and accept one connection request from a remote machine.
void accept(const std::string& localHost, int localPort);
// write the given bytes to the port, return number of bytes written or -1 if error.
int write(const uint8_t* ptr, int count);
// read some bytes from the port, return the number of bytes read or -1 if error.
int read(uint8_t* buffer, int bytesToRead);
// close the port.
void close();
bool isClosed();
int getRssi(const char* ifaceName);
std::string remoteAddress();
int remotePort();
void setNonBlocking();
void setNoDelay();
private:
class TcpSocketImpl;
std::unique_ptr<TcpSocketImpl> impl_;
};
#endif // SERIAL_COM_UDPCLIENTPORT_HPP
| AirSim/MavLinkCom/src/serial_com/TcpClientPort.hpp/0 | {
"file_path": "AirSim/MavLinkCom/src/serial_com/TcpClientPort.hpp",
"repo_id": "AirSim",
"token_count": 447
} | 31 |
#!/bin/sh
cd docs
make html
| AirSim/PythonClient/build_api_docs.sh/0 | {
"file_path": "AirSim/PythonClient/build_api_docs.sh",
"repo_id": "AirSim",
"token_count": 13
} | 32 |
import numpy
import cv2
import time
import sys
import os
import random
from airsim import *
def radiance(absoluteTemperature, emissivity, dx=0.01, response=None):
"""
title::
radiance
description::
Calculates radiance and integrated radiance over a bandpass of 8 to 14
microns, given temperature and emissivity, using Planck's Law.
inputs::
absoluteTemperature
temperture of object in [K]
either a single temperature or a numpy
array of temperatures, of shape (temperatures.shape[0], 1)
emissivity
average emissivity (number between 0 and 1 representing the
efficiency with which it emits radiation; if 1, it is an ideal
blackbody) of object over the bandpass
either a single emissivity or a numpy array of emissivities, of
shape (emissivities.shape[0], 1)
dx
discrete spacing between the wavelengths for evaluation of
radiance and integration [default is 0.1]
response
optional response of the camera over the bandpass of 8 to 14
microns [default is None, for no response provided]
returns::
radiance
discrete spectrum of radiance over bandpass
integratedRadiance
integration of radiance spectrum over bandpass (to simulate
the readout from a sensor)
author::
Elizabeth Bondi
"""
wavelength = numpy.arange(8,14,dx)
c1 = 1.19104e8 # (2 * 6.62607*10^-34 [Js] *
# (2.99792458 * 10^14 [micron/s])^2 * 10^12 to convert
# denominator from microns^3 to microns * m^2)
c2 = 1.43879e4 # (hc/k) [micron * K]
if response is not None:
radiance = response * emissivity * (c1 / ((wavelength**5) * \
(numpy.exp(c2 / (wavelength * absoluteTemperature )) - 1)))
else:
radiance = emissivity * (c1 / ((wavelength**5) * (numpy.exp(c2 / \
(wavelength * absoluteTemperature )) - 1)))
if absoluteTemperature.ndim > 1:
return radiance, numpy.trapz(radiance, dx=dx, axis=1)
else:
return radiance, numpy.trapz(radiance, dx=dx)
def get_new_temp_emiss_from_radiance(tempEmissivity, response):
"""
title::
get_new_temp_emiss_from_radiance
description::
Transform tempEmissivity from [objectName, temperature, emissivity]
to [objectName, "radiance"] using radiance calculation above.
input::
tempEmissivity
numpy array containing the temperature and emissivity of each
object (e.g., each row has: [objectName, temperature, emissivity])
response
camera response (same input as radiance, set to None if lacking
this information)
returns::
tempEmissivityNew
tempEmissivity, now with [objectName, "radiance"]; note that
integrated radiance (L) is divided by the maximum and multiplied
by 255 in order to simulate an 8 bit digital count observed by the
thermal sensor, since radiance and digital count are linearly
related, so it's [objectName, simulated thermal digital count]
author::
Elizabeth Bondi
"""
numObjects = tempEmissivity.shape[0]
L = radiance(tempEmissivity[:,1].reshape((-1,1)).astype(numpy.float64),
tempEmissivity[:,2].reshape((-1,1)).astype(numpy.float64),
response=response)[1].flatten()
L = ((L / L.max()) * 255).astype(numpy.uint8)
tempEmissivityNew = numpy.hstack((
tempEmissivity[:,0].reshape((numObjects,1)),
L.reshape((numObjects,1))))
return tempEmissivityNew
def set_segmentation_ids(segIdDict, tempEmissivityNew, client):
"""
title::
set_segmentation_ids
description::
Set stencil IDs in environment so that stencil IDs correspond to
simulated thermal digital counts (e.g., if elephant has a simulated
digital count of 219, set stencil ID to 219).
input::
segIdDict
dictionary mapping environment object names to the object names in
the first column of tempEmissivityNew
tempEmissivityNew
numpy array containing object names and corresponding simulated
thermal digital count
client
connection to AirSim (e.g., client = MultirotorClient() for UAV)
author::
Elizabeth Bondi
"""
#First set everything to 0.
success = client.simSetSegmentationObjectID("[\w]*", 0, True);
if not success:
print('There was a problem setting all segmentation object IDs to 0. ')
sys.exit(1)
#Next set all objects of interest provided to corresponding object IDs
#segIdDict values MUST match tempEmissivityNew labels.
for key in segIdDict:
objectID = int(tempEmissivityNew[numpy.where(tempEmissivityNew == \
segIdDict[key])[0],1][0])
success = client.simSetSegmentationObjectID("[\w]*"+key+"[\w]*",
objectID, True);
if not success:
print('There was a problem setting {0} segmentation object ID to {1!s}, or no {0} was found.'.format(key, objectID))
time.sleep(0.1)
if __name__ == '__main__':
#Connect to AirSim, UAV mode.
client = MultirotorClient()
client.confirmConnection()
segIdDict = {'Base_Terrain':'soil',
'elephant':'elephant',
'zebra':'zebra',
'Crocodile':'crocodile',
'Rhinoceros':'rhinoceros',
'Hippo':'hippopotamus',
'Poacher':'human',
'InstancedFoliageActor':'tree',
'Water_Plane':'water',
'truck':'truck'}
#Choose temperature values for winter or summer.
#"""
#winter
tempEmissivity = numpy.array([['elephant',290,0.96],
['zebra',298,0.98],
['rhinoceros',291,0.96],
['hippopotamus',290,0.96],
['crocodile',295,0.96],
['human',292,0.985],
['tree',273,0.952],
['grass',273,0.958],
['soil',278,0.914],
['shrub',273,0.986],
['truck',273,0.8],
['water',273,0.96]])
#"""
"""
#summer
tempEmissivity = numpy.array([['elephant',298,0.96],
['zebra',307,0.98],
['rhinoceros',299,0.96],
['hippopotamus',298,0.96],
['crocodile',303,0.96],
['human',301,0.985],
['tree',293,0.952],
['grass',293,0.958],
['soil',288,0.914],
['shrub',293,0.986],
['truck',293,0.8],
['water',293,0.96]])
"""
#Read camera response.
response = None
camResponseFile = 'camera_response.npy'
try:
numpy.load(camResponseFile)
except:
print("{} not found. Using default response.".format(camResponseFile))
#Calculate radiance.
tempEmissivityNew = get_new_temp_emiss_from_radiance(tempEmissivity,
response)
#Set IDs in AirSim environment.
set_segmentation_ids(segIdDict, tempEmissivityNew, client) | AirSim/PythonClient/computer_vision/create_ir_segmentation_map.py/0 | {
"file_path": "AirSim/PythonClient/computer_vision/create_ir_segmentation_map.py",
"repo_id": "AirSim",
"token_count": 3904
} | 33 |
# -*- coding: utf-8 -*-
#
# Configuration file for the Sphinx documentation builder.
#
# This file does only contain a selection of the most common options. For a
# full list see the documentation:
# http://www.sphinx-doc.org/en/master/config
# -- Path setup --------------------------------------------------------------
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
#
import os
import sys
sys.path.insert(0, os.path.abspath('..'))
import sphinx_rtd_theme
from airsim import __version__
# -- Project information -----------------------------------------------------
project = u'airsim'
copyright = u'2020, Shital Shah, Ratnesh Madaan, Sai Vemprala, Nicholas Gyde'
author = u'Shital Shah, Ratnesh Madaan, Sai Vemprala, Nicholas Gyde'
# The short X.Y version
version = __version__
# The full version, including alpha/beta/rc tags
release = version
# -- General configuration ---------------------------------------------------
# If your documentation needs a minimal Sphinx version, state it here.
#
# needs_sphinx = '1.0'
# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
extensions = [
'sphinx.ext.autodoc',
'sphinx.ext.autosummary',
'sphinx.ext.autosectionlabel',
'sphinx.ext.doctest',
'sphinx.ext.intersphinx',
'sphinx.ext.todo',
'sphinx.ext.mathjax',
'sphinx.ext.coverage',
'sphinx.ext.napoleon',
'sphinx.ext.viewcode',
'sphinx_rtd_theme'
]
autodoc_default_flags = ['members']
autosummary_generate = True
autosectionlabel_prefix_document = True
autosectionlabel_maxdepth = 4
# Add any paths that contain templates here, relative to this directory.
templates_path = ['_templates']
# The suffix(es) of source filenames.
# You can specify multiple suffix as a list of string:
#
# source_suffix = ['.rst', '.md']
source_suffix = '.rst'
# The master toctree document.
master_doc = 'index'
# The language for content autogenerated by Sphinx. Refer to documentation
# for a list of supported languages.
#
# This is also used if you do content translation via gettext catalogs.
# Usually you set "language" from the command line for these cases.
language = None
# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
# This pattern also affects html_static_path and html_extra_path.
exclude_patterns = [u'_build', 'Thumbs.db', '.DS_Store']
# The name of the Pygments (syntax highlighting) style to use.
pygments_style = None
# -- Options for HTML output -------------------------------------------------
# The theme to use for HTML and HTML Help pages. See the documentation for
# a list of builtin themes.
#
# html_theme = 'alabaster'
html_theme = "sphinx_rtd_theme"
# Theme options are theme-specific and customize the look and feel of a theme
# further. For a list of options available for each theme, see the
# documentation.
#
# html_theme_options = {}
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
html_static_path = ['_static']
# Custom sidebar templates, must be a dictionary that maps document names
# to template names.
#
# The default sidebars (for documents that don't match any pattern) are
# defined by theme itself. Builtin themes are using these templates by
# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
# 'searchbox.html']``.
#
# html_sidebars = {}
# -- Options for HTMLHelp output ---------------------------------------------
# Output file base name for HTML help builder.
htmlhelp_basename = 'airsimdoc'
# -- Options for LaTeX output ------------------------------------------------
latex_elements = {
# The paper size ('letterpaper' or 'a4paper').
#
# 'papersize': 'letterpaper',
# The font size ('10pt', '11pt' or '12pt').
#
# 'pointsize': '10pt',
# Additional stuff for the LaTeX preamble.
#
# 'preamble': '',
# Latex figure (float) alignment
#
# 'figure_align': 'htbp',
}
# Grouping the document tree into LaTeX files. List of tuples
# (source start file, target name, title,
# author, documentclass [howto, manual, or own class]).
latex_documents = [
(master_doc, 'airsim.tex', u'airsim Documentation',
u'Ratnesh Madaan, Matthew Brown, Nicholas Gyde', 'manual'),
]
# -- Options for manual page output ------------------------------------------
# One entry per manual page. List of tuples
# (source start file, name, description, authors, manual section).
man_pages = [
(master_doc, 'airsim', u'airsim Documentation',
[author], 1)
]
# -- Options for Texinfo output ----------------------------------------------
# Grouping the document tree into Texinfo files. List of tuples
# (source start file, target name, title, author,
# dir menu entry, description, category)
texinfo_documents = [
(master_doc, 'airsim', u'airsim Documentation',
author, 'airsim', 'One line description of project.',
'Miscellaneous'),
]
# -- Options for Epub output -------------------------------------------------
# Bibliographic Dublin Core info.
epub_title = project
# The unique identifier of the text. This can be a ISBN number
# or the project homepage.
#
# epub_identifier = ''
# A unique identification for the text.
#
# epub_uid = ''
# A list of files that should not be packed into the epub file.
epub_exclude_files = ['search.html']
# -- Extension configuration -------------------------------------------------
# -- Options for intersphinx extension ---------------------------------------
# Example configuration for intersphinx: refer to the Python standard library.
intersphinx_mapping = {'https://docs.python.org/': None}
# -- Options for todo extension ----------------------------------------------
# If true, `todo` and `todoList` produce output, else they produce nothing.
todo_include_todos = True
| AirSim/PythonClient/docs/conf.py/0 | {
"file_path": "AirSim/PythonClient/docs/conf.py",
"repo_id": "AirSim",
"token_count": 1837
} | 34 |
#%matplotlib inline
import numpy as np
import pandas as pd
import h5py
from matplotlib import use
use("TkAgg")
import matplotlib.pyplot as plt
from PIL import Image, ImageDraw
import os
import Cooking
# chunk size for training batches
chunk_size = 32
# No test set needed, since testing in our case is running the model on an unseen map in AirSim
train_eval_test_split = [0.8, 0.2, 0.0]
# Point this to the directory containing the raw data
RAW_DATA_DIR = './raw_data/'
# Point this to the desired output directory for the cooked (.h5) data
COOKED_DATA_DIR = './cooked_data/'
# Choose The folders to search for data under RAW_DATA_DIR
COOK_ALL_DATA = True
data_folders = []
#if COOK_ALL_DATA is set to False, append your desired data folders here
# data_folder.append('folder_name1')
# data_folder.append('folder_name2')
# ...
if COOK_ALL_DATA:
data_folders = [name for name in os.listdir(RAW_DATA_DIR)]
full_path_raw_folders = [os.path.join(RAW_DATA_DIR, f) for f in data_folders]
Cooking.cook(full_path_raw_folders, COOKED_DATA_DIR, train_eval_test_split, chunk_size) | AirSim/PythonClient/imitation_learning/cook_data.py/0 | {
"file_path": "AirSim/PythonClient/imitation_learning/cook_data.py",
"repo_id": "AirSim",
"token_count": 371
} | 35 |
import rospy
from sensor_msgs.msg import Image,CameraInfo
from tf2_msgs.msg import TFMessage
from geometry_msgs.msg import TransformStamped
from cv_bridge import CvBridge
import airsim
import cv2
import numpy as np
CLAHE_ENABLED = False # when enabled, RGB image is enhanced using CLAHE
CAMERA_FX = 320
CAMERA_FY = 320
CAMERA_CX = 320
CAMERA_CY = 240
CAMERA_K1 = -0.000591
CAMERA_K2 = 0.000519
CAMERA_P1 = 0.000001
CAMERA_P2 = -0.000030
CAMERA_P3 = 0.0
IMAGE_WIDTH = 640 # resolution should match values in settings.json
IMAGE_HEIGHT = 480
class KinectPublisher:
def __init__(self):
self.bridge_rgb = CvBridge()
self.msg_rgb = Image()
self.bridge_d = CvBridge()
self.msg_d = Image()
self.msg_info = CameraInfo()
self.msg_tf = TFMessage()
def getDepthImage(self,response_d):
img_depth = np.array(response_d.image_data_float, dtype=np.float32)
img_depth = img_depth.reshape(response_d.height, response_d.width)
return img_depth
def getRGBImage(self,response_rgb):
img1d = np.fromstring(response_rgb.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response_rgb.height, response_rgb.width, 3)
img_rgb = img_rgb[..., :3][..., ::-1]
return img_rgb
def enhanceRGB(self,img_rgb):
lab = cv2.cvtColor(img_rgb, cv2.COLOR_BGR2LAB)
lab_planes = cv2.split(lab)
clahe = cv2.createCLAHE(clipLimit=2.5, tileGridSize=(10, 10))
lab_planes[0] = clahe.apply(lab_planes[0])
lab = cv2.merge(lab_planes)
img_rgb = cv2.cvtColor(lab, cv2.COLOR_LAB2BGR)
return img_rgb
def GetCurrentTime(self):
self.ros_time = rospy.Time.now()
def CreateRGBMessage(self,img_rgb):
self.msg_rgb.header.stamp = self.ros_time
self.msg_rgb.header.frame_id = "camera_rgb_optical_frame"
self.msg_rgb.encoding = "bgr8"
self.msg_rgb.height = IMAGE_HEIGHT
self.msg_rgb.width = IMAGE_WIDTH
self.msg_rgb.data = self.bridge_rgb.cv2_to_imgmsg(img_rgb, "bgr8").data
self.msg_rgb.is_bigendian = 0
self.msg_rgb.step = self.msg_rgb.width * 3
return self.msg_rgb
def CreateDMessage(self,img_depth):
self.msg_d.header.stamp = self.ros_time
self.msg_d.header.frame_id = "camera_depth_optical_frame"
self.msg_d.encoding = "32FC1"
self.msg_d.height = IMAGE_HEIGHT
self.msg_d.width = IMAGE_WIDTH
self.msg_d.data = self.bridge_d.cv2_to_imgmsg(img_depth, "32FC1").data
self.msg_d.is_bigendian = 0
self.msg_d.step = self.msg_d.width * 4
return self.msg_d
def CreateInfoMessage(self):
self.msg_info.header.frame_id = "camera_rgb_optical_frame"
self.msg_info.height = self.msg_rgb.height
self.msg_info.width = self.msg_rgb.width
self.msg_info.distortion_model = "plumb_bob"
self.msg_info.D.append(CAMERA_K1)
self.msg_info.D.append(CAMERA_K2)
self.msg_info.D.append(CAMERA_P1)
self.msg_info.D.append(CAMERA_P2)
self.msg_info.D.append(CAMERA_P3)
self.msg_info.K[0] = CAMERA_FX
self.msg_info.K[1] = 0
self.msg_info.K[2] = CAMERA_CX
self.msg_info.K[3] = 0
self.msg_info.K[4] = CAMERA_FY
self.msg_info.K[5] = CAMERA_CY
self.msg_info.K[6] = 0
self.msg_info.K[7] = 0
self.msg_info.K[8] = 1
self.msg_info.R[0] = 1
self.msg_info.R[1] = 0
self.msg_info.R[2] = 0
self.msg_info.R[3] = 0
self.msg_info.R[4] = 1
self.msg_info.R[5] = 0
self.msg_info.R[6] = 0
self.msg_info.R[7] = 0
self.msg_info.R[8] = 1
self.msg_info.P[0] = CAMERA_FX
self.msg_info.P[1] = 0
self.msg_info.P[2] = CAMERA_CX
self.msg_info.P[3] = 0
self.msg_info.P[4] = 0
self.msg_info.P[5] = CAMERA_FY
self.msg_info.P[6] = CAMERA_CY
self.msg_info.P[7] = 0
self.msg_info.P[8] = 0
self.msg_info.P[9] = 0
self.msg_info.P[10] = 1
self.msg_info.P[11] = 0
self.msg_info.binning_x = self.msg_info.binning_y = 0
self.msg_info.roi.x_offset = self.msg_info.roi.y_offset = self.msg_info.roi.height = self.msg_info.roi.width = 0
self.msg_info.roi.do_rectify = False
self.msg_info.header.stamp = self.msg_rgb.header.stamp
return self.msg_info
def CreateTFMessage(self):
self.msg_tf.transforms.append(TransformStamped())
self.msg_tf.transforms[0].header.stamp = self.ros_time
self.msg_tf.transforms[0].header.frame_id = "/camera_link"
self.msg_tf.transforms[0].child_frame_id = "/camera_rgb_frame"
self.msg_tf.transforms[0].transform.translation.x = 0.000
self.msg_tf.transforms[0].transform.translation.y = 0
self.msg_tf.transforms[0].transform.translation.z = 0.000
self.msg_tf.transforms[0].transform.rotation.x = 0.00
self.msg_tf.transforms[0].transform.rotation.y = 0.00
self.msg_tf.transforms[0].transform.rotation.z = 0.00
self.msg_tf.transforms[0].transform.rotation.w = 1.00
self.msg_tf.transforms.append(TransformStamped())
self.msg_tf.transforms[1].header.stamp = self.ros_time
self.msg_tf.transforms[1].header.frame_id = "/camera_rgb_frame"
self.msg_tf.transforms[1].child_frame_id = "/camera_rgb_optical_frame"
self.msg_tf.transforms[1].transform.translation.x = 0.000
self.msg_tf.transforms[1].transform.translation.y = 0.000
self.msg_tf.transforms[1].transform.translation.z = 0.000
self.msg_tf.transforms[1].transform.rotation.x = -0.500
self.msg_tf.transforms[1].transform.rotation.y = 0.500
self.msg_tf.transforms[1].transform.rotation.z = -0.500
self.msg_tf.transforms[1].transform.rotation.w = 0.500
self.msg_tf.transforms.append(TransformStamped())
self.msg_tf.transforms[2].header.stamp = self.ros_time
self.msg_tf.transforms[2].header.frame_id = "/camera_link"
self.msg_tf.transforms[2].child_frame_id = "/camera_depth_frame"
self.msg_tf.transforms[2].transform.translation.x = 0
self.msg_tf.transforms[2].transform.translation.y = 0
self.msg_tf.transforms[2].transform.translation.z = 0
self.msg_tf.transforms[2].transform.rotation.x = 0.00
self.msg_tf.transforms[2].transform.rotation.y = 0.00
self.msg_tf.transforms[2].transform.rotation.z = 0.00
self.msg_tf.transforms[2].transform.rotation.w = 1.00
self.msg_tf.transforms.append(TransformStamped())
self.msg_tf.transforms[3].header.stamp = self.ros_time
self.msg_tf.transforms[3].header.frame_id = "/camera_depth_frame"
self.msg_tf.transforms[3].child_frame_id = "/camera_depth_optical_frame"
self.msg_tf.transforms[3].transform.translation.x = 0.000
self.msg_tf.transforms[3].transform.translation.y = 0.000
self.msg_tf.transforms[3].transform.translation.z = 0.000
self.msg_tf.transforms[3].transform.rotation.x = -0.500
self.msg_tf.transforms[3].transform.rotation.y = 0.500
self.msg_tf.transforms[3].transform.rotation.z = -0.500
self.msg_tf.transforms[3].transform.rotation.w = 0.500
return self.msg_tf
if __name__ == "__main__":
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
rospy.init_node('airsim_publisher', anonymous=True)
publisher_d = rospy.Publisher('/camera/depth_registered/image_raw', Image, queue_size=1)
publisher_rgb = rospy.Publisher('/camera/rgb/image_rect_color', Image, queue_size=1)
publisher_info = rospy.Publisher('/camera/rgb/camera_info', CameraInfo, queue_size=1)
publisher_tf = rospy.Publisher('/tf', TFMessage, queue_size=1)
rate = rospy.Rate(30) # 30hz
pub = KinectPublisher()
while not rospy.is_shutdown():
responses = client.simGetImages([airsim.ImageRequest(0, airsim.ImageType.DepthPlanar, True, False),
airsim.ImageRequest(0, airsim.ImageType.Scene, False, False)])
img_depth = pub.getDepthImage(responses[0])
img_rgb = pub.getRGBImage(responses[1])
if CLAHE_ENABLED:
img_rgb = pub.enhanceRGB(img_rgb)
pub.GetCurrentTime()
msg_rgb = pub.CreateRGBMessage(img_rgb)
msg_d = pub.CreateDMessage(img_depth)
msg_info = pub.CreateInfoMessage()
msg_tf = pub.CreateTFMessage()
publisher_rgb.publish(msg_rgb)
publisher_d.publish(msg_d)
publisher_info.publish(msg_info)
publisher_tf.publish(msg_tf)
del pub.msg_info.D[:]
del pub.msg_tf.transforms[:]
rate.sleep()
| AirSim/PythonClient/multirotor/kinect_publisher.py/0 | {
"file_path": "AirSim/PythonClient/multirotor/kinect_publisher.py",
"repo_id": "AirSim",
"token_count": 4255
} | 36 |
import setup_path
import airsim
import time
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
print("Setting wind to 10m/s in forward direction") # NED
wind = airsim.Vector3r(10, 0, 0)
client.simSetWind(wind)
# Takeoff or hover
landed = client.getMultirotorState().landed_state
if landed == airsim.LandedState.Landed:
print("taking off...")
client.takeoffAsync().join()
else:
print("already flying...")
client.hoverAsync().join()
time.sleep(5)
print("Setting wind to 15m/s towards right") # NED
wind = airsim.Vector3r(0, 15, 0)
client.simSetWind(wind)
time.sleep(5)
# Set wind to 0
print("Resetting wind to 0")
wind = airsim.Vector3r(0, 0, 0)
client.simSetWind(wind)
| AirSim/PythonClient/multirotor/set_wind.py/0 | {
"file_path": "AirSim/PythonClient/multirotor/set_wind.py",
"repo_id": "AirSim",
"token_count": 277
} | 37 |
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<ClCompile>
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<PrecompiledHeader>NotUsing</PrecompiledHeader>
<Optimization>MaxSpeed</Optimization>
<FunctionLevelLinking>true</FunctionLevelLinking>
<IntrinsicFunctions>true</IntrinsicFunctions>
<PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<AdditionalIncludeDirectories>..\sgmstereo;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
<OpenMPSupport>true</OpenMPSupport>
<TreatWarningAsError>true</TreatWarningAsError>
</ClCompile>
<Link>
<SubSystem>Console</SubSystem>
<GenerateDebugInformation>true</GenerateDebugInformation>
<EnableCOMDATFolding>true</EnableCOMDATFolding>
<OptimizeReferences>true</OptimizeReferences>
<AdditionalLibraryDirectories>C:\OpenCV2.2\lib</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_core220.lib; %(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
<ClCompile>
<WarningLevel>Level4</WarningLevel>
<PrecompiledHeader>NotUsing</PrecompiledHeader>
<Optimization>Disabled</Optimization>
<FunctionLevelLinking>true</FunctionLevelLinking>
<IntrinsicFunctions>true</IntrinsicFunctions>
<PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<AdditionalIncludeDirectories>..\sgmstereo;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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<OpenMPSupport>true</OpenMPSupport>
<TreatWarningAsError>true</TreatWarningAsError>
<WholeProgramOptimization>false</WholeProgramOptimization>
</ClCompile>
<Link>
<SubSystem>Console</SubSystem>
<GenerateDebugInformation>true</GenerateDebugInformation>
<EnableCOMDATFolding>true</EnableCOMDATFolding>
<OptimizeReferences>true</OptimizeReferences>
<AdditionalLibraryDirectories>C:\OpenCV2.2\lib</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_core220.lib; %(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">
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</Project> | AirSim/SGM/src/stereoPipeline/stereoPipeline.vcxproj/0 | {
"file_path": "AirSim/SGM/src/stereoPipeline/stereoPipeline.vcxproj",
"repo_id": "AirSim",
"token_count": 5125
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#pragma once
#include "../SimMode/SimModeBase.h"
class SimHUD
{
public:
typedef msr::airlib::ImageCaptureBase::ImageType ImageType;
typedef msr::airlib::AirSimSettings AirSimSettings;
private:
void createSimMode();
void initializeSettings();
const std::vector<AirSimSettings::SubwindowSetting>& getSubWindowSettings() const;
std::vector<AirSimSettings::SubwindowSetting>& getSubWindowSettings();
bool getSettingsText(std::string& settingsText);
bool readSettingsTextFromFile(std::string fileName, std::string& settingsText);
std::string getSimModeFromUser();
public:
SimHUD(std::string sime_mode_name, int port_number);
SimModeBase* GetSimMode();
virtual void BeginPlay();
virtual void EndPlay();
virtual void Tick(float DeltaSeconds);
private:
typedef common_utils::Utils Utils;
SimModeBase* simmode_;
std::string sim_mode_name_;
int port_number_;
public:
bool server_started_Successfully_;
}; | AirSim/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h/0 | {
"file_path": "AirSim/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h",
"repo_id": "AirSim",
"token_count": 334
} | 39 |
#pragma once
#include "common/AirSimSettings.hpp"
#include "vehicles/car/api/CarApiBase.hpp"
#include "../../UnityPawn.h"
class CarPawn : public UnityPawn
{
private:
typedef msr::airlib::AirSimSettings AirSimSettings;
private:
bool is_low_friction_;
msr::airlib::CarApiBase::CarControls keyboard_controls_;
public:
CarPawn(std::string car_name);
const msr::airlib::CarApiBase::CarControls& getKeyBoardControls() const
{
return keyboard_controls_;
}
public:
std::string car_name_;
};
| AirSim/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawn.h/0 | {
"file_path": "AirSim/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawn.h",
"repo_id": "AirSim",
"token_count": 216
} | 40 |
#pragma once
#include "api/WorldSimApiBase.hpp"
#include "SimMode/SimModeBase.h"
#include "AirSimStructs.hpp"
class WorldSimApi : public msr::airlib::WorldSimApiBase
{
public:
typedef msr::airlib::Pose Pose;
typedef msr::airlib::Vector3r Vector3r;
typedef msr::airlib::MeshPositionVertexBuffersResponse MeshPositionVertexBuffersResponse;
typedef msr::airlib::ImageCaptureBase ImageCaptureBase;
typedef msr::airlib::CameraDetails CameraDetails;
WorldSimApi(SimModeBase* simmode);
virtual ~WorldSimApi();
// ------ Level setting apis ----- //
virtual bool loadLevel(const std::string& level_name) override { return false; };
virtual std::string spawnObject(const std::string& object_name, const std::string& load_component, const Pose& pose, const Vector3r& scale, bool physics_enabled, bool is_blueprint) override { return ""; };
virtual bool destroyObject(const std::string& object_name) override { return false; };
virtual std::vector<std::string> listAssets() const override;
virtual bool isPaused() const override;
virtual void reset() override;
virtual void pause(bool is_paused) override;
virtual void continueForTime(double seconds) override;
virtual void continueForFrames(uint32_t frames) override;
virtual void setTimeOfDay(bool is_enabled, const std::string& start_datetime, bool is_start_datetime_dst,
float celestial_clock_speed, float update_interval_secs, bool move_sun) override;
virtual void enableWeather(bool enable) override;
virtual void setWeatherParameter(WeatherParameter param, float val) override;
virtual bool setSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex = false) override;
virtual int getSegmentationObjectID(const std::string& mesh_name) const override;
virtual void printLogMessage(const std::string& message,
const std::string& message_param = "", unsigned char severity = 0) override;
virtual bool setLightIntensity(const std::string& light_name, float intensity) override;
virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) override;
virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id = 0) override;
virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id = 0) override;
virtual std::vector<std::string> listSceneObjects(const std::string& name_regex) const override;
virtual Pose getObjectPose(const std::string& object_name) const override;
virtual Vector3r getObjectScale(const std::string& object_name) const override;
Vector3r getObjectScaleInternal(const std::string& object_name) const;
virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) override;
virtual bool setObjectScale(const std::string& object_name, const Vector3r& scale) override;
virtual bool runConsoleCommand(const std::string& command) override;
//----------- Plotting APIs ----------/
virtual void simFlushPersistentMarkers() override;
virtual void simPlotPoints(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float size, float duration, bool is_persistent) override;
virtual void simPlotLineStrip(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float thickness, float duration, bool is_persistent) override;
virtual void simPlotLineList(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float thickness, float duration, bool is_persistent) override;
virtual void simPlotArrows(const std::vector<Vector3r>& points_start, const std::vector<Vector3r>& points_end, const std::vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent) override;
virtual void simPlotStrings(const std::vector<std::string>& strings, const std::vector<Vector3r>& positions, float scale, const std::vector<float>& color_rgba, float duration) override;
virtual void simPlotTransforms(const std::vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent) override;
virtual void simPlotTransformsWithNames(const std::vector<Pose>& poses, const std::vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const std::vector<float>& text_color_rgba, float duration) override;
virtual std::vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const override;
// Recording APIs
virtual void startRecording() override;
virtual void stopRecording() override;
virtual bool isRecording() const override;
virtual void setWind(const Vector3r& wind) const override;
virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) override;
virtual bool addVehicle(const std::string& vehicle_name, const std::string& vehicle_type, const Pose& pose, const std::string& pawn_path = "") override;
virtual std::vector<std::string> listVehicles() const override;
virtual std::string getSettingsString() const override;
virtual bool testLineOfSightBetweenPoints(const msr::airlib::GeoPoint& point1, const msr::airlib::GeoPoint& point2) const override;
virtual std::vector<msr::airlib::GeoPoint> getWorldExtents() const override;
// Camera APIs
virtual msr::airlib::CameraInfo getCameraInfo(const CameraDetails& camera_details) const override;
virtual void setCameraPose(const msr::airlib::Pose& pose, const CameraDetails& camera_details) override;
virtual void setCameraFoV(float fov_degrees, const CameraDetails& camera_details) override;
virtual void setDistortionParam(const std::string& param_name, float value, const CameraDetails& camera_details) override;
virtual std::vector<float> getDistortionParams(const CameraDetails& camera_details) const override;
virtual std::vector<ImageCaptureBase::ImageResponse> getImages(const std::vector<ImageCaptureBase::ImageRequest>& requests,
const std::string& vehicle_name, bool external) const override;
virtual std::vector<uint8_t> getImage(ImageCaptureBase::ImageType image_type, const CameraDetails& camera_details) const override;
//CinemAirSim
virtual std::vector<std::string> getPresetLensSettings(const CameraDetails& camera_details) override;
virtual std::string getLensSettings(const CameraDetails& camera_details) override;
virtual void setPresetLensSettings(std::string preset, const CameraDetails& camera_details) override;
virtual std::vector<std::string> getPresetFilmbackSettings(const CameraDetails& camera_details) override;
virtual void setPresetFilmbackSettings(std::string preset, const CameraDetails& camera_details) override;
virtual std::string getFilmbackSettings(const CameraDetails& camera_details) override;
virtual float setFilmbackSettings(float width, float height, const CameraDetails& camera_details) override;
virtual float getFocalLength(const CameraDetails& camera_details) override;
virtual void setFocalLength(float focal_length, const CameraDetails& camera_details) override;
virtual void enableManualFocus(bool enable, const CameraDetails& camera_details) override;
virtual float getFocusDistance(const CameraDetails& camera_details) override;
virtual void setFocusDistance(float focus_distance, const CameraDetails& camera_details) override;
virtual float getFocusAperture(const CameraDetails& camera_details) override;
virtual void setFocusAperture(float focus_aperture, const CameraDetails& camera_details) override;
virtual void enableFocusPlane(bool enable, const CameraDetails& camera_details) override;
virtual std::string getCurrentFieldOfView(const CameraDetails& camera_details) override;
//end CinemAirSim
virtual void addDetectionFilterMeshName(ImageCaptureBase::ImageType image_type, const std::string& mesh_name, const CameraDetails& camera_details) override;
virtual void setDetectionFilterRadius(ImageCaptureBase::ImageType image_type, float radius_cm, const CameraDetails& camera_details) override;
virtual void clearDetectionMeshNames(ImageCaptureBase::ImageType image_type, const CameraDetails& camera_details) override;
virtual std::vector<msr::airlib::DetectionInfo> getDetections(ImageCaptureBase::ImageType image_type, const CameraDetails& camera_details) override;
private:
SimModeBase* simmode_;
};
| AirSim/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h/0 | {
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} | 43 |
using UnityEngine;
namespace AirSimUnity
{
/// <summary>
/// Singleton that should be placed in the scene, providing a central point of access
/// to global behaviors.
/// </summary>
public class AirSimGlobal : MonoBehaviour
{
public static AirSimGlobal Instance { get; private set; }
public Weather Weather { get; private set; }
private void Awake()
{
Instance = this;
Weather = GetComponent<Weather>();
}
}
}
| AirSim/Unity/UnityDemo/Assets/AirSimAssets/Scripts/AirSimGlobal.cs/0 | {
"file_path": "AirSim/Unity/UnityDemo/Assets/AirSimAssets/Scripts/AirSimGlobal.cs",
"repo_id": "AirSim",
"token_count": 196
} | 44 |
using System;
using System.Runtime.InteropServices;
namespace AirSimUnity {
/*
* class for all the PInvoke methods.
*/
public static class PInvokeWrapper {
private const string DLL_NAME = "AirsimWrapper";
// Delegates initializer. All the delegate methods are registered through this PInvoke call
[DllImport(DLL_NAME)]
public static extern void InitVehicleManager(IntPtr SetPose, IntPtr GetPose, IntPtr GetCollisionInfo, IntPtr GetRCData,
IntPtr GetSimImages, IntPtr SetRotorSpeed, IntPtr SetEnableApi, IntPtr SetCarApiControls, IntPtr GetCarState,
IntPtr GetCameraInfo, IntPtr SetCameraPose, IntPtr SetCameraFoV, IntPtr SetDistortionParam, IntPtr GetDistortionParams,
IntPtr SetSegmentationObjectId, IntPtr GetSegmentationObjectId, IntPtr PrintLogMessage, IntPtr GetTransformFromUnity,
IntPtr Reset, IntPtr GetVelocity, IntPtr GetRayCastHit, IntPtr Pause);
[DllImport(DLL_NAME)]
public static extern KinemticState GetKinematicState(string vehicleName);
[DllImport(DLL_NAME)]
public static extern void StartDroneServer(string ip, int port, string vehicleId);
[DllImport(DLL_NAME)]
public static extern void StopDroneServer(string vehicleName);
[DllImport(DLL_NAME)]
public static extern bool StartServer(string simModeName, int portNumber);
[DllImport(DLL_NAME)]
public static extern void StopServer();
[DllImport(DLL_NAME)]
public static extern void CallTick(float deltaSeconds);
[DllImport(DLL_NAME)]
public static extern void InvokeCollisionDetection(string vehicleName, CollisionInfo collisionInfo);
}
}
| AirSim/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs/0 | {
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| AirSim/Unity/UnityDemo/Assets/Scenes/CarDemo.unity/0 | {
"file_path": "AirSim/Unity/UnityDemo/Assets/Scenes/CarDemo.unity",
"repo_id": "AirSim",
"token_count": 160898
} | 48 |
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| AirSim/Unity/UnityDemo/Assets/Standard Assets/Vehicles/Car/Materials/SkyCarBodyWhite.mat/0 | {
"file_path": "AirSim/Unity/UnityDemo/Assets/Standard Assets/Vehicles/Car/Materials/SkyCarBodyWhite.mat",
"repo_id": "AirSim",
"token_count": 2410
} | 49 |
#! /bin/bash
set -x
set -e
# check for rpclib
RPC_VERSION_FOLDER="rpclib-2.3.0"
if [ ! -f ../external/rpclib/$RPC_VERSION_FOLDER/rpclib.pc.in ]; then
>&2 echo "error, rpc.pc.in not found, please run setup.sh first and then run build.sh again"
fi
cp ../external/rpclib/$RPC_VERSION_FOLDER/rpclib.pc.in AirLibWrapper/AirsimWrapper/rpclib.pc.in
if [ ! -d "linux-build" ]; then
mkdir linux-build
fi
cd linux-build
if [ "$(uname)" == "Darwin" ]; then
export CC=/usr/local/opt/llvm@8/bin/clang
export CXX=/usr/local/opt/llvm@8/bin/clang++
else
export CC="clang-8"
export CXX="clang++-8"
fi
# check for local cmake build created by setup.sh
if [ -d "../../cmake_build" ]; then
if [ "$(uname)" = "Darwin" ]; then
CMAKE="$(greadlink -f ../../cmake_build/bin/cmake)"
else
CMAKE="$(readlink -f ../../cmake_build/bin/cmake)"
fi
else
CMAKE=$(which cmake)
fi
"$CMAKE" ../../cmake ../AirLibWrapper/AirsimWrapper
make -j`nproc`
if [ ! -d "../UnityDemo/Assets/Plugins" ]; then
mkdir ../UnityDemo/Assets/Plugins
fi
if [ "$(uname)" == "Darwin" ]; then
cp -r AirsimWrapper.bundle ../UnityDemo/Assets/Plugins
else
cp libAirsimWrapper.so ../UnityDemo/Assets/Plugins
fi
cd ..
if [ -f AirLibWrapper/AirsimWrapper/rpclib.pc.in ]; then
rm AirLibWrapper/AirsimWrapper/rpclib.pc.in
fi
| AirSim/Unity/build.sh/0 | {
"file_path": "AirSim/Unity/build.sh",
"repo_id": "AirSim",
"token_count": 613
} | 50 |
{
"FileVersion" : 3,
"Version" : "1.8.1",
"VersionName": "1.8.1",
"FriendlyName": "AirSim",
"Description": "AirSim - Autonomous Aerial Vehicles Simulator Plugin",
"Category" : "Science",
"CreatedBy": "Shital Shah",
"CreatedByURL": "http://github.com/Microsoft/AirSim",
"DocsURL" : "https://github.com/Microsoft/AirSim/blob/master/README.md",
"MarketplaceURL" : "",
"SupportURL" : "https://github.com/Microsoft/AirSim/issues",
"EnabledByDefault" : true,
"CanContainContent": true,
"IsBetaVersion" : true,
"Installed": true,
"Modules": [
{
"Name": "AirSim",
"Type": "Runtime",
"LoadingPhase": "PreDefault"
}
],
"Plugins": [
{
"Name": "PhysXVehicles",
"Enabled": true
}
]
}
| AirSim/Unreal/Plugins/AirSim/AirSim.uplugin/0 | {
"file_path": "AirSim/Unreal/Plugins/AirSim/AirSim.uplugin",
"repo_id": "AirSim",
"token_count": 302
} | 51 |
#include "NedTransform.h"
#include "AirBlueprintLib.h"
NedTransform::NedTransform(const FTransform& global_transform, float world_to_meters)
: NedTransform(nullptr, global_transform, world_to_meters)
{
}
NedTransform::NedTransform(const AActor* pivot, const NedTransform& global_transform)
: NedTransform(pivot, global_transform.global_transform_, global_transform.world_to_meters_)
{
}
NedTransform::NedTransform(const AActor* pivot, const FTransform& global_transform, float world_to_meters)
: global_transform_(global_transform), world_to_meters_(world_to_meters)
{
if (pivot != nullptr) {
//normally pawns have their center as origin. If we use this as 0,0,0 in NED then
//when we tell vehicle to go to 0,0,0 - it will try to go in the ground
//so we get the bounds and subtract z to get bottom as 0,0,0
FVector mesh_origin, mesh_bounds;
pivot->GetActorBounds(true, mesh_origin, mesh_bounds);
FVector ground_offset = FVector(0, 0, mesh_bounds.Z);
local_ned_offset_ = pivot->GetActorLocation() - ground_offset;
}
else
local_ned_offset_ = FVector::ZeroVector;
}
NedTransform::Vector3r NedTransform::toLocalNed(const FVector& position) const
{
return NedTransform::toVector3r(position - local_ned_offset_,
1 / world_to_meters_,
true);
}
NedTransform::Vector3r NedTransform::toLocalNedVelocity(const FVector& velocity) const
{
return NedTransform::toVector3r(velocity,
1 / world_to_meters_,
true);
}
NedTransform::Vector3r NedTransform::toGlobalNed(const FVector& position) const
{
return NedTransform::toVector3r(position - global_transform_.GetLocation(),
1 / world_to_meters_,
true);
}
NedTransform::Quaternionr NedTransform::toNed(const FQuat& q) const
{
return Quaternionr(q.W, -q.X, -q.Y, q.Z);
}
float NedTransform::toNed(float length) const
{
return length / world_to_meters_;
}
NedTransform::Pose NedTransform::toLocalNed(const FTransform& pose) const
{
return Pose(toLocalNed(pose.GetLocation()), toNed(pose.GetRotation()));
}
NedTransform::Pose NedTransform::toGlobalNed(const FTransform& pose) const
{
return Pose(toGlobalNed(pose.GetLocation()), toNed(pose.GetRotation()));
}
float NedTransform::fromNed(float length) const
{
return length * world_to_meters_;
}
FVector NedTransform::fromLocalNed(const NedTransform::Vector3r& position) const
{
return NedTransform::toFVector(position, world_to_meters_, true) + local_ned_offset_;
}
FVector NedTransform::fromRelativeNed(const NedTransform::Vector3r& position) const
{
return NedTransform::toFVector(position, world_to_meters_, true);
}
FTransform NedTransform::fromRelativeNed(const Pose& pose) const
{
return FTransform(fromNed(pose.orientation), fromRelativeNed(pose.position));
}
FVector NedTransform::fromGlobalNed(const NedTransform::Vector3r& position) const
{
return NedTransform::toFVector(position, world_to_meters_, true) + global_transform_.GetLocation();
}
FQuat NedTransform::fromNed(const Quaternionr& q) const
{
return FQuat(-q.x(), -q.y(), q.z(), q.w());
}
FTransform NedTransform::fromLocalNed(const Pose& pose) const
{
return FTransform(fromNed(pose.orientation), fromLocalNed(pose.position));
}
FTransform NedTransform::fromGlobalNed(const Pose& pose) const
{
return FTransform(fromNed(pose.orientation), fromGlobalNed(pose.position));
}
FQuat NedTransform::fromUUtoFLU(const FQuat& q) const
{
return FQuat(-q.X, q.Y, -q.Z, q.W);
}
// todo unused. need to manually plots tf axes' line in right handed FLU instead of using DrawDebugCoordinateSystem
FQuat NedTransform::fromGlobalNedToFLU(const Quaternionr& q) const
{
return fromUUtoFLU(fromNed(q));
}
FVector NedTransform::getGlobalOffset() const
{
return global_transform_.GetLocation();
}
FVector NedTransform::getLocalOffset() const
{
return local_ned_offset_;
}
FTransform NedTransform::getGlobalTransform() const
{
return global_transform_;
}
FVector NedTransform::toFVector(const Vector3r& vec, float scale, bool convert_from_ned) const
{
return FVector(vec.x() * scale, vec.y() * scale, (convert_from_ned ? -vec.z() : vec.z()) * scale);
}
NedTransform::Vector3r NedTransform::toVector3r(const FVector& vec, float scale, bool convert_to_ned) const
{
return Vector3r(vec.X * scale, vec.Y * scale, (convert_to_ned ? -vec.Z : vec.Z) * scale);
}
| AirSim/Unreal/Plugins/AirSim/Source/NedTransform.cpp/0 | {
"file_path": "AirSim/Unreal/Plugins/AirSim/Source/NedTransform.cpp",
"repo_id": "AirSim",
"token_count": 1771
} | 52 |
#include "SimHUD.h"
#include "UObject/ConstructorHelpers.h"
#include "Kismet/KismetSystemLibrary.h"
#include "Misc/FileHelper.h"
#include "Vehicles/Multirotor/SimModeWorldMultiRotor.h"
#include "Vehicles/Car/SimModeCar.h"
#include "Vehicles/ComputerVision/SimModeComputerVision.h"
#include "common/AirSimSettings.hpp"
#include <stdexcept>
ASimHUD::ASimHUD()
{
static ConstructorHelpers::FClassFinder<UUserWidget> hud_widget_class(TEXT("WidgetBlueprint'/AirSim/Blueprints/BP_SimHUDWidget'"));
widget_class_ = hud_widget_class.Succeeded() ? hud_widget_class.Class : nullptr;
}
void ASimHUD::BeginPlay()
{
Super::BeginPlay();
try {
UAirBlueprintLib::OnBeginPlay();
initializeSettings();
loadLevel();
// Prevent a MavLink connection being established if changing levels
if (map_changed_) return;
setUnrealEngineSettings();
createSimMode();
createMainWidget();
setupInputBindings();
if (simmode_)
simmode_->startApiServer();
}
catch (std::exception& ex) {
UAirBlueprintLib::LogMessageString("Error at startup: ", ex.what(), LogDebugLevel::Failure);
//FGenericPlatformMisc::PlatformInit();
//FGenericPlatformMisc::MessageBoxExt(EAppMsgType::Ok, TEXT("Error at Startup"), ANSI_TO_TCHAR(ex.what()));
UAirBlueprintLib::ShowMessage(EAppMsgType::Ok, std::string("Error at startup: ") + ex.what(), "Error");
}
}
void ASimHUD::Tick(float DeltaSeconds)
{
if (simmode_ && simmode_->EnableReport)
widget_->updateDebugReport(simmode_->getDebugReport());
}
void ASimHUD::EndPlay(const EEndPlayReason::Type EndPlayReason)
{
if (simmode_)
simmode_->stopApiServer();
if (widget_) {
widget_->Destruct();
widget_ = nullptr;
}
if (simmode_) {
simmode_->Destroy();
simmode_ = nullptr;
}
UAirBlueprintLib::OnEndPlay();
Super::EndPlay(EndPlayReason);
}
void ASimHUD::toggleRecordHandler()
{
simmode_->toggleRecording();
}
void ASimHUD::inputEventToggleRecording()
{
toggleRecordHandler();
}
void ASimHUD::inputEventToggleReport()
{
simmode_->EnableReport = !simmode_->EnableReport;
widget_->setReportVisible(simmode_->EnableReport);
}
void ASimHUD::inputEventToggleHelp()
{
widget_->toggleHelpVisibility();
}
void ASimHUD::inputEventToggleTrace()
{
simmode_->toggleTraceAll();
}
void ASimHUD::updateWidgetSubwindowVisibility()
{
for (int window_index = 0; window_index < AirSimSettings::kSubwindowCount; ++window_index) {
APIPCamera* camera = subwindow_cameras_[window_index];
ImageType camera_type = getSubWindowSettings().at(window_index).image_type;
bool is_visible = getSubWindowSettings().at(window_index).visible && camera != nullptr;
if (camera != nullptr) {
camera->setCameraTypeEnabled(camera_type, is_visible);
//sub-window captures don't count as a request, set bCaptureEveryFrame and bCaptureOnMovement to display so we can show correctly the subwindow
camera->setCameraTypeUpdate(camera_type, false);
}
widget_->setSubwindowVisibility(window_index,
is_visible,
is_visible ? camera->getRenderTarget(camera_type, false) : nullptr);
}
}
bool ASimHUD::isWidgetSubwindowVisible(int window_index)
{
return widget_->getSubwindowVisibility(window_index) != 0;
}
void ASimHUD::toggleSubwindowVisibility(int window_index)
{
getSubWindowSettings().at(window_index).visible = !getSubWindowSettings().at(window_index).visible;
updateWidgetSubwindowVisibility();
}
void ASimHUD::inputEventToggleSubwindow0()
{
toggleSubwindowVisibility(0);
}
void ASimHUD::inputEventToggleSubwindow1()
{
toggleSubwindowVisibility(1);
}
void ASimHUD::inputEventToggleSubwindow2()
{
toggleSubwindowVisibility(2);
}
void ASimHUD::inputEventToggleAll()
{
getSubWindowSettings().at(0).visible = !getSubWindowSettings().at(0).visible;
getSubWindowSettings().at(1).visible = getSubWindowSettings().at(2).visible = getSubWindowSettings().at(0).visible;
updateWidgetSubwindowVisibility();
}
void ASimHUD::createMainWidget()
{
//create main widget
if (widget_class_ != nullptr) {
APlayerController* player_controller = this->GetWorld()->GetFirstPlayerController();
auto* pawn = player_controller->GetPawn();
if (pawn) {
std::string pawn_name = std::string(TCHAR_TO_ANSI(*pawn->GetName()));
Utils::log(pawn_name);
}
else {
UAirBlueprintLib::ShowMessage(EAppMsgType::Ok, std::string("There were no compatible vehicles created for current SimMode! Check your settings.json."), "Error");
UAirBlueprintLib::LogMessage(TEXT("There were no compatible vehicles created for current SimMode! Check your settings.json."), TEXT(""), LogDebugLevel::Failure);
}
widget_ = CreateWidget<USimHUDWidget>(player_controller, widget_class_);
}
else {
widget_ = nullptr;
UAirBlueprintLib::LogMessage(TEXT("Cannot instantiate BP_SimHUDWidget blueprint!"), TEXT(""), LogDebugLevel::Failure);
}
initializeSubWindows();
widget_->AddToViewport();
//synchronize PIP views
widget_->initializeForPlay();
if (simmode_)
widget_->setReportVisible(simmode_->EnableReport);
widget_->setOnToggleRecordingHandler(std::bind(&ASimHUD::toggleRecordHandler, this));
widget_->setRecordButtonVisibility(AirSimSettings::singleton().is_record_ui_visible);
updateWidgetSubwindowVisibility();
}
void ASimHUD::setUnrealEngineSettings()
{
//TODO: should we only do below on SceneCapture2D components and cameras?
//avoid motion blur so capture images don't get
GetWorld()->GetGameViewport()->GetEngineShowFlags()->SetMotionBlur(false);
//use two different methods to set console var because sometime it doesn't seem to work
static const auto custom_depth_var = IConsoleManager::Get().FindConsoleVariable(TEXT("r.CustomDepth"));
custom_depth_var->Set(3);
//Equivalent to enabling Custom Stencil in Project > Settings > Rendering > Postprocessing
UKismetSystemLibrary::ExecuteConsoleCommand(GetWorld(), FString("r.CustomDepth 3"));
//during startup we init stencil IDs to random hash and it takes long time for large environments
//we get error that GameThread has timed out after 30 sec waiting on render thread
static const auto render_timeout_var = IConsoleManager::Get().FindConsoleVariable(TEXT("g.TimeoutForBlockOnRenderFence"));
render_timeout_var->Set(300000);
}
void ASimHUD::setupInputBindings()
{
UAirBlueprintLib::EnableInput(this);
UAirBlueprintLib::BindActionToKey("inputEventToggleRecording", EKeys::R, this, &ASimHUD::inputEventToggleRecording);
UAirBlueprintLib::BindActionToKey("InputEventToggleReport", EKeys::Semicolon, this, &ASimHUD::inputEventToggleReport);
UAirBlueprintLib::BindActionToKey("InputEventToggleHelp", EKeys::F1, this, &ASimHUD::inputEventToggleHelp);
UAirBlueprintLib::BindActionToKey("InputEventToggleTrace", EKeys::T, this, &ASimHUD::inputEventToggleTrace);
UAirBlueprintLib::BindActionToKey("InputEventToggleSubwindow0", EKeys::One, this, &ASimHUD::inputEventToggleSubwindow0);
UAirBlueprintLib::BindActionToKey("InputEventToggleSubwindow1", EKeys::Two, this, &ASimHUD::inputEventToggleSubwindow1);
UAirBlueprintLib::BindActionToKey("InputEventToggleSubwindow2", EKeys::Three, this, &ASimHUD::inputEventToggleSubwindow2);
UAirBlueprintLib::BindActionToKey("InputEventToggleAll", EKeys::Zero, this, &ASimHUD::inputEventToggleAll);
}
void ASimHUD::initializeSettings()
{
std::string settingsText;
if (getSettingsText(settingsText))
AirSimSettings::initializeSettings(settingsText);
else
AirSimSettings::createDefaultSettingsFile();
AirSimSettings::singleton().load(std::bind(&ASimHUD::getSimModeFromUser, this));
for (const auto& warning : AirSimSettings::singleton().warning_messages) {
UAirBlueprintLib::LogMessageString(warning, "", LogDebugLevel::Failure);
}
for (const auto& error : AirSimSettings::singleton().error_messages) {
UAirBlueprintLib::ShowMessage(EAppMsgType::Ok, error, "settings.json");
}
}
const std::vector<ASimHUD::AirSimSettings::SubwindowSetting>& ASimHUD::getSubWindowSettings() const
{
return AirSimSettings::singleton().subwindow_settings;
}
std::vector<ASimHUD::AirSimSettings::SubwindowSetting>& ASimHUD::getSubWindowSettings()
{
return AirSimSettings::singleton().subwindow_settings;
}
std::string ASimHUD::getSimModeFromUser()
{
if (EAppReturnType::No == UAirBlueprintLib::ShowMessage(EAppMsgType::YesNo,
"Would you like to use car simulation? Choose no to use quadrotor simulation.",
"Choose Vehicle")) {
return AirSimSettings::kSimModeTypeMultirotor;
}
else
return AirSimSettings::kSimModeTypeCar;
}
void ASimHUD::loadLevel()
{
UAirBlueprintLib::RunCommandOnGameThread([&]() { this->map_changed_ = UAirBlueprintLib::loadLevel(this->GetWorld(), FString(AirSimSettings::singleton().level_name.c_str())); }, true);
}
void ASimHUD::createSimMode()
{
std::string simmode_name = AirSimSettings::singleton().simmode_name;
FActorSpawnParameters simmode_spawn_params;
simmode_spawn_params.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;
//spawn at origin. We will use this to do global NED transforms, for ex, non-vehicle objects in environment
if (simmode_name == AirSimSettings::kSimModeTypeMultirotor)
simmode_ = this->GetWorld()->SpawnActor<ASimModeWorldMultiRotor>(FVector::ZeroVector,
FRotator::ZeroRotator,
simmode_spawn_params);
else if (simmode_name == AirSimSettings::kSimModeTypeCar)
simmode_ = this->GetWorld()->SpawnActor<ASimModeCar>(FVector::ZeroVector,
FRotator::ZeroRotator,
simmode_spawn_params);
else if (simmode_name == AirSimSettings::kSimModeTypeComputerVision)
simmode_ = this->GetWorld()->SpawnActor<ASimModeComputerVision>(FVector::ZeroVector,
FRotator::ZeroRotator,
simmode_spawn_params);
else {
UAirBlueprintLib::ShowMessage(EAppMsgType::Ok, std::string("SimMode is not valid: ") + simmode_name, "Error");
UAirBlueprintLib::LogMessageString("SimMode is not valid: ", simmode_name, LogDebugLevel::Failure);
}
}
void ASimHUD::initializeSubWindows()
{
if (!simmode_)
return;
auto default_vehicle_sim_api = simmode_->getVehicleSimApi();
if (default_vehicle_sim_api) {
auto camera_count = default_vehicle_sim_api->getCameraCount();
//setup defaults
if (camera_count > 0) {
subwindow_cameras_[0] = default_vehicle_sim_api->getCamera("");
subwindow_cameras_[1] = default_vehicle_sim_api->getCamera(""); //camera_count > 3 ? 3 : 0
subwindow_cameras_[2] = default_vehicle_sim_api->getCamera(""); //camera_count > 4 ? 4 : 0
}
else
subwindow_cameras_[0] = subwindow_cameras_[1] = subwindow_cameras_[2] = nullptr;
}
for (const auto& setting : getSubWindowSettings()) {
APIPCamera* camera = simmode_->getCamera(msr::airlib::CameraDetails(setting.camera_name, setting.vehicle_name, setting.external));
if (camera)
subwindow_cameras_[setting.window_index] = camera;
else
UAirBlueprintLib::LogMessageString("Invalid Camera settings in <SubWindows> element",
std::to_string(setting.window_index),
LogDebugLevel::Failure);
}
}
FString ASimHUD::getLaunchPath(const std::string& filename)
{
FString launch_rel_path = FPaths::LaunchDir();
FString abs_path = FPaths::ConvertRelativePathToFull(launch_rel_path);
return FPaths::Combine(abs_path, FString(filename.c_str()));
}
// Attempts to parse the settings text from one of multiple locations.
// First, check the command line for settings provided via "-s" or "--settings" arguments
// Next, check the executable's working directory for the settings file.
// Finally, check the user's documents folder.
// If the settings file cannot be read, throw an exception
bool ASimHUD::getSettingsText(std::string& settingsText)
{
return (getSettingsTextFromCommandLine(settingsText) ||
readSettingsTextFromFile(FString(msr::airlib::Settings::getExecutableFullPath("settings.json").c_str()), settingsText) ||
readSettingsTextFromFile(getLaunchPath("settings.json"), settingsText) ||
readSettingsTextFromFile(FString(msr::airlib::Settings::Settings::getUserDirectoryFullPath("settings.json").c_str()), settingsText));
}
// Attempts to parse the settings file path or the settings text from the command line
// Looks for the flag "-settings=". If it exists, settingsText will be set to the value.
// Example (Path): AirSim.exe -settings="C:\path\to\settings.json"
// Example (Text): AirSim.exe -settings={"foo":"bar"} -> settingsText will be set to {"foo":"bar"}
// Returns true if the argument is present, false otherwise.
bool ASimHUD::getSettingsTextFromCommandLine(std::string& settingsText)
{
const TCHAR* commandLineArgs = FCommandLine::Get();
FString settingsJsonFString;
if (FParse::Value(commandLineArgs, TEXT("-settings="), settingsJsonFString, false)) {
if (readSettingsTextFromFile(settingsJsonFString, settingsText)) {
return true;
}
else {
UAirBlueprintLib::LogMessageString("Loaded settings from commandline: ", TCHAR_TO_UTF8(*settingsJsonFString), LogDebugLevel::Informational);
settingsText = TCHAR_TO_UTF8(*settingsJsonFString);
return true;
}
}
return false;
}
bool ASimHUD::readSettingsTextFromFile(const FString& settingsFilepath, std::string& settingsText)
{
bool found = FPaths::FileExists(settingsFilepath);
if (found) {
FString settingsTextFStr;
bool readSuccessful = FFileHelper::LoadFileToString(settingsTextFStr, *settingsFilepath);
if (readSuccessful) {
UAirBlueprintLib::LogMessageString("Loaded settings from ", TCHAR_TO_UTF8(*settingsFilepath), LogDebugLevel::Informational);
settingsText = TCHAR_TO_UTF8(*settingsTextFStr);
}
else {
UAirBlueprintLib::LogMessageString("Cannot read file ", TCHAR_TO_UTF8(*settingsFilepath), LogDebugLevel::Failure);
throw std::runtime_error("Cannot read settings file.");
}
}
return found;
}
| AirSim/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp/0 | {
"file_path": "AirSim/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp",
"repo_id": "AirSim",
"token_count": 5937
} | 53 |
#pragma once
#include "CoreMinimal.h"
#include "PIPCamera.h"
#include "common/ImageCaptureBase.hpp"
#include "common/common_utils/UniqueValueMap.hpp"
class UnrealImageCapture : public msr::airlib::ImageCaptureBase
{
public:
typedef msr::airlib::ImageCaptureBase::ImageType ImageType;
UnrealImageCapture(const common_utils::UniqueValueMap<std::string, APIPCamera*>* cameras);
virtual ~UnrealImageCapture();
virtual void getImages(const std::vector<ImageRequest>& requests, std::vector<ImageResponse>& responses) const override;
private:
void getSceneCaptureImage(const std::vector<msr::airlib::ImageCaptureBase::ImageRequest>& requests,
std::vector<msr::airlib::ImageCaptureBase::ImageResponse>& responses, bool use_safe_method) const;
void addScreenCaptureHandler(UWorld* world);
bool getScreenshotScreen(ImageType image_type, std::vector<uint8_t>& compressedPng);
bool updateCameraVisibility(APIPCamera* camera, const msr::airlib::ImageCaptureBase::ImageRequest& request);
private:
const common_utils::UniqueValueMap<std::string, APIPCamera*>* cameras_;
std::vector<uint8_t> last_compressed_png_;
};
| AirSim/Unreal/Plugins/AirSim/Source/UnrealImageCapture.h/0 | {
"file_path": "AirSim/Unreal/Plugins/AirSim/Source/UnrealImageCapture.h",
"repo_id": "AirSim",
"token_count": 396
} | 54 |
// Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
#pragma once
#include "CoreMinimal.h"
#include "VehicleWheel.h"
#include "CarWheelRear.generated.h"
UCLASS()
class UCarWheelRear : public UVehicleWheel
{
GENERATED_BODY()
public:
UCarWheelRear();
};
| AirSim/Unreal/Plugins/AirSim/Source/Vehicles/Car/CarWheelRear.h/0 | {
"file_path": "AirSim/Unreal/Plugins/AirSim/Source/Vehicles/Car/CarWheelRear.h",
"repo_id": "AirSim",
"token_count": 103
} | 55 |
// AirSim Weather API library
#pragma once
#include "CoreMinimal.h"
#include "Runtime/Engine/Classes/Engine/ExponentialHeightFog.h"
#include "Kismet/BlueprintFunctionLibrary.h"
#include "Materials/MaterialParameterCollectionInstance.h"
#include "WeatherLib.generated.h"
// NOTE: when adding new enums, you must add it to GetWeatherParamScalarName()'s switch statement
// with a name for the corresponding material collection param name
// can't use enum's display names because on package those get deleted.
UENUM(BlueprintType)
enum class EWeatherParamScalar : uint8
{
WEATHER_PARAM_SCALAR_RAIN = 0 UMETA(DisplayName = "Rain"),
WEATHER_PARAM_SCALAR_ROADWETNESS = 1 UMETA(DisplayName = "RoadWetness"),
WEATHER_PARAM_SCALAR_SNOW = 2 UMETA(DisplayName = "Snow"),
WEATHER_PARAM_SCALAR_ROADSNOW = 3 UMETA(DisplayName = "RoadSnow"),
WEATHER_PARAM_SCALAR_MAPLELEAF = 4 UMETA(DisplayName = "MapleLeaf"),
WEATHER_PARAM_SCALAR_ROADLEAF = 5 UMETA(DisplayName = "RoadLeaf"),
WEATHER_PARAM_SCALAR_DUST = 6 UMETA(DisplayName = "Dust"),
WEATHER_PARAM_SCALAR_FOG = 7 UMETA(DisplayName = "Fog"),
WEATHER_PARAM_SCALAR_WEATHERENABLED = 8 UMETA(DisplayName = "WeatherEnabled")
};
UENUM(BlueprintType)
enum class EWeatherParamVector : uint8
{
WEATHER_PARAM_VECTOR_WIND = 0 UMETA(DisplayName = "Wind"),
WEATHER_PARAM_VECTOR_MAX = 1 UMETA(DisplayName = "MAX")
};
/**
*
*/
UCLASS(BlueprintType)
class AIRSIM_API UWeatherLib : public UBlueprintFunctionLibrary
{
GENERATED_BODY()
// not sure why, but content folder should be omitted in the path
// location of the weather UMaterialParameterCollection, params for rain snow wind etc
static const TCHAR* getWeatherParamsObjectPath()
{
return TEXT("/AirSim/Weather/WeatherFX/WeatherGlobalParams");
}
static const FSoftClassPath getWeatherMenuObjectPath()
{
return FSoftClassPath(TEXT("AActor'/AirSim/Weather/UI/MenuActor.MenuActor_C'"));
}
static const FSoftClassPath getWeatherActorPath()
{
return FSoftClassPath(TEXT("AActor'/AirSim/Weather/WeatherFX/WeatherActor.WeatherActor_C'"));
}
static const FSoftClassPath getWeatherMenuWidgetClass()
{
return FSoftClassPath(TEXT("UUserWidget'/AirSim/HUDAssets/OptionsMenu.OptionsMenu_C'"));
}
// menu class name for finding and closing it
static const FString getWeatherMenuClassName()
{
return TEXT("OptionsMenu_C");
}
// corresponding param name to set in Weather Params material collection
static const FName GetWeatherParamScalarName(EWeatherParamScalar WeatherParam)
{
switch (WeatherParam) {
case EWeatherParamScalar::WEATHER_PARAM_SCALAR_RAIN: {
return TEXT("Rain");
break;
}
case EWeatherParamScalar::WEATHER_PARAM_SCALAR_ROADWETNESS: {
return TEXT("RoadWetness");
break;
}
case EWeatherParamScalar::WEATHER_PARAM_SCALAR_SNOW: {
return TEXT("Snow");
break;
}
case EWeatherParamScalar::WEATHER_PARAM_SCALAR_ROADSNOW: {
return TEXT("RoadSnow");
break;
}
case EWeatherParamScalar::WEATHER_PARAM_SCALAR_MAPLELEAF: {
return TEXT("MapleLeaf");
break;
}
case EWeatherParamScalar::WEATHER_PARAM_SCALAR_ROADLEAF: {
return TEXT("RoadLeaf");
break;
}
case EWeatherParamScalar::WEATHER_PARAM_SCALAR_DUST: {
return TEXT("Dust");
break;
}
case EWeatherParamScalar::WEATHER_PARAM_SCALAR_FOG: {
return TEXT("Fog");
break;
}
case EWeatherParamScalar::WEATHER_PARAM_SCALAR_WEATHERENABLED: {
return TEXT("WeatherEnabled");
break;
}
}
return TEXT("");
}
// corresponding param name to set in Weather Params material collection
static const FName GetWeatherParamVectorName(EWeatherParamVector WeatherParam)
{
switch (WeatherParam) {
case EWeatherParamVector::WEATHER_PARAM_VECTOR_WIND: {
return TEXT("Wind");
break;
}
}
return TEXT("");
}
static UMaterialParameterCollectionInstance* getWeatherMaterialCollectionInstance(UWorld* World);
public:
// ActorsToAttachTo is an array of actors that we will attach weather particles to
// in most cases, this will be the playable pawns so they will always have weather fx
UFUNCTION(BlueprintCallable, Category = Weather)
static void initWeather(UWorld* World, TArray<AActor*> ActorsToAttachTo);
/* only sets or gets one param. need any actor in the world for WorldContextObject, so we can get world*/
UFUNCTION(BlueprintCallable, Category = Weather)
static void setWeatherParamScalar(UWorld* World, EWeatherParamScalar Param, float Amount);
UFUNCTION(BlueprintCallable, Category = Weather)
static float getWeatherParamScalar(UWorld* World, EWeatherParamScalar Param);
// only vector for now
UFUNCTION(BlueprintCallable, Category = Weather)
static FVector getWeatherWindDirection(UWorld* World);
// in a range of (-1, -1, -1) to (1, 1, 1)
UFUNCTION(BlueprintCallable, Category = Weather)
static void setWeatherWindDirection(UWorld* World, FVector NewWind);
UFUNCTION(BlueprintCallable, Category = Weather)
static bool getIsWeatherEnabled(UWorld* World);
UFUNCTION(BlueprintCallable, Category = Weather)
static void setWeatherEnabled(UWorld* World, bool bEnabled);
UFUNCTION(BlueprintCallable, Category = Weather)
static void showWeatherMenu(UWorld* World);
UFUNCTION(BlueprintCallable, Category = Weather)
static void hideWeatherMenu(UWorld* World);
UFUNCTION(BlueprintCallable, Category = Weather)
static bool isMenuVisible(UWorld* World);
UFUNCTION(BlueprintCallable, Category = Weather)
static void toggleWeatherMenu(UWorld* World);
// blueprint callable function for widget to get world
// since GetWorld() isn't exposed to bp
// widget isnt a subclass of actor, so it needs its own implementation
UFUNCTION(BlueprintCallable, Category = World)
static UWorld* widgetGetWorld(UUserWidget* Widget);
// blueprint callable function for actor to get world
// since GetWorld() isn't exposed to bp
UFUNCTION(BlueprintCallable, Category = World)
static UWorld* actorGetWorld(AActor* Actor);
UFUNCTION(BlueprintCallable, Category = Weather)
static void setWeatherFog(AExponentialHeightFog* fog);
private:
static AExponentialHeightFog* weather_fog_;
};
| AirSim/Unreal/Plugins/AirSim/Source/Weather/WeatherLib.h/0 | {
"file_path": "AirSim/Unreal/Plugins/AirSim/Source/Weather/WeatherLib.h",
"repo_id": "AirSim",
"token_count": 2535
} | 56 |
# Script parameters
$airSimExecutable = "c:\AirSim\Blocks\blocks.exe"
$airSimProcessName = "Blocks"
# Ensure proper path
$env:Path =
[System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" +
[System.Environment]::GetEnvironmentVariable("Path","User")
# Install python app requirements
pip3 install -r .\app\requirements.txt
# Overwrite AirSim configuration
New-Item -ItemType Directory -Force -Path $env:USERPROFILE\Documents\AirSim\
copy .\app\settings.json $env:USERPROFILE\Documents\AirSim\
# Kill previous AirSim instance
Stop-Process -Name $airSimProcessName -Force -ErrorAction SilentlyContinue
sleep 2
# Start new AirSim instance
Start-Process -NoNewWindow -FilePath $airSimExecutable -ArgumentList "-RenderOffScreen"
echo "Starting the AirSim environment has completed."
| AirSim/azure/start-airsim.ps1/0 | {
"file_path": "AirSim/azure/start-airsim.ps1",
"repo_id": "AirSim",
"token_count": 236
} | 57 |
This is a tutorial for generating simulated thermal infrared (IR) images using AirSim and the AirSim Africa environment.
Pre-compiled Africa Environment can be downloaded from the Releases tab of this Github repo:
[Windows Pre-compiled binary](https://github.com/Microsoft/AirSim/releases/tag/v1.2.1)
To generate your own data, you may use two python files: [create_ir_segmentation_map.py](https://github.com/Microsoft/AirSim/tree/main/PythonClient//computer_vision/create_ir_segmentation_map.py) and
[capture_ir_segmentation.py](https://github.com/Microsoft/AirSim/tree/main/PythonClient//computer_vision/capture_ir_segmentation.py).
[create_ir_segmentation_map.py](https://github.com/Microsoft/AirSim/tree/main/PythonClient//computer_vision/create_ir_segmentation_map.py) uses temperature, emissivity, and camera response information to estimate the thermal digital count that could be expected for the objects in the environment, and then reassigns the segmentation IDs in AirSim to match these digital counts. It should be run before starting to capture thermal IR data. Otherwise, digital counts in the IR images will be incorrect. The camera response, temperature, and emissivity data are all included for the Africa environment.
[capture_ir_segmentation.py](https://github.com/Microsoft/AirSim/tree/main/PythonClient//computer_vision/capture_ir_segmentation.py) is run after the segmentation IDs have been reassigned. It tracks objects of interest and records the infrared and scene images from the multirotor. It uses Computer Vision mode.
Finally, the details about how temperatures were estimated for plants and animals in the Africa environment, etc. can be found in this paper:
@inproceedings{bondi2018airsim,
title={AirSim-W: A Simulation Environment for Wildlife Conservation with UAVs},
author={Bondi, Elizabeth and Dey, Debadeepta and Kapoor, Ashish and Piavis, Jim and Shah, Shital and Fang, Fei and Dilkina, Bistra and Hannaford, Robert and Iyer, Arvind and Joppa, Lucas and others},
booktitle={Proceedings of the 1st ACM SIGCAS Conference on Computing and Sustainable Societies},
pages={40},
year={2018},
organization={ACM}
}
nb
| AirSim/docs/InfraredCamera.md/0 | {
"file_path": "AirSim/docs/InfraredCamera.md",
"repo_id": "AirSim",
"token_count": 616
} | 58 |
# Modern C++ Coding Guidelines
We are using Modern C++11. Smart pointers, Lambdas, and C++11 multithreading primitives are your friend.
## Quick Note
The great thing about "standards" is that there are many to chose from: [ISO](https://isocpp.org/wiki/faq/coding-standards), [Sutter & Stroustrup](https://github.com/isocpp/CppCoreGuidelines/blob/master/CppCoreGuidelines.md), [ROS](http://wiki.ros.org/CppStyleGuide), [LINUX](https://www.kernel.org/doc/Documentation/process/coding-style.rst), [Google's](https://google.github.io/styleguide/cppguide.html), [Microsoft's](https://msdn.microsoft.com/en-us/library/888a6zcz.aspx), [CERN's](http://atlas-computing.web.cern.ch/atlas-computing/projects/qa/draft_guidelines.html), [GCC's](https://gcc.gnu.org/wiki/CppConventions), [ARM's](http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0475c/CJAJAJCJ.html), [LLVM's](http://llvm.org/docs/CodingStandards.html) and probably
thousands of others. Unfortunately most of these can't even agree on something as basic as how to name a class or a constant. This is probably due to the fact that these standards often carry lots of legacy issues due to supporting existing code bases. The intention behind this document is to create guidance that remains as close to ISO, Sutter & Stroustrup and ROS while resolving as many conflicts, disadvantages and inconsistencies as possible among them.
## clang-format
Formatting the syntax of C++ is normalized by the clang-format tool which has settings checked into
this project in the file `.clang-format`. These settings are set to match the formatting guidelines
listed below. You can "format" a file using clang-format command line or by enabling Visual Studio
automatic-clang formatting either during every edit or when you save the file. All files have been
formatted this way and the github workflow called `clang-format` will also ensure all pull requests
are correctly formatted so it should stay clean. Obviously this does not include external code like
`Eigen` or `rpclib`.
If you find a bug in clang-format you can disable clang formatting of a specific block of code by
using the following comments pair:
```c++
// clang-format off
...
// clang-format on
```
## Naming Conventions
Avoid using any sort of Hungarian notation on names and "_ptr" on pointers.
| **Code Element** | **Style** | **Comment** |
| --- | --- | --- |
| Namespace | under\_scored | Differentiate from class names |
| Class name | CamelCase | To differentiate from STL types which ISO recommends (do not use "C" or "T" prefixes) |
| Function name | camelCase | Lower case start is almost universal except for .Net world |
| Parameters/Locals | under\_scored | Vast majority of standards recommends this because \_ is more readable to C++ crowd (although not much to Java/.Net crowd) |
| Member variables | under\_scored\_with\_ | The prefix \_ is heavily discouraged as ISO has rules around reserving \_identifiers, so we recommend suffix instead |
| Enums and its members | CamelCase | Most except very old standards agree with this one |
| Globals | g\_under\_scored | You shouldn't have these in first place! |
| Constants | UPPER\_CASE | Very contentious and we just have to pick one here, unless if is a private constant in class or method, then use naming for Members or Locals |
| File names | Match case of class name in file | Lot of pro and cons either way but this removes inconsistency in auto generated code (important for ROS) |
## Header Files
Use a namespace qualified #ifdef to protect against multiple inclusion:
```
#ifndef msr_airsim_MyHeader_hpp
#define msr_airsim_MyHeader_hpp
//--your code
#endif
```
The reason we don't use #pragma once is because it's not supported if same header file exists at multiple places (which might be possible under ROS build system!).
## Bracketing
Inside function or method body place curly bracket on same line.
Outside that the Namespace, Class and methods levels use separate line.
This is called [K&R style](https://en.wikipedia.org/wiki/Indent_style#K.26R_style) and its variants are widely used in C++ vs other styles which are more popular in other languages.
Notice that curlies are not required if you have single statement, but complex statements are easier to keep correct with the braces.
```
int main(int argc, char* argv[])
{
while (x == y) {
f0();
if (cont()) {
f1();
} else {
f2();
f3();
}
if (x > 100)
break;
}
}
```
## Const and References
Religiously review all non-scalar parameters you declare to be candidate for const and references. If you are coming from languages such as C#/Java/Python,
the most often mistake you would make is to pass parameters by value instead of `const T&;` Especially most of the strings, vectors and maps you want to
pass as `const T&;` (if they are readonly) or `T&` (if they are writable). Also add `const` suffix to methods as much as possible.
## Overriding
When overriding virtual method, use override suffix.
## Pointers
This is really about memory management. A simulator has much performance critical code, so we try and avoid overloading the memory manager
with lots of calls to new/delete. We also want to avoid too much copying of things on the stack, so we pass things by reference when ever possible.
But when the object really needs to live longer than the call stack you often need to allocate that object on
the heap, and so you have a pointer. Now, if management of the lifetime of that object is going to be tricky we recommend using
[C++ 11 smart pointers](https://cppstyle.wordpress.com/c11-smart-pointers/).
But smart pointers do have a cost, so don’t use them blindly everywhere. For private code
where performance is paramount, raw pointers can be used. Raw pointers are also often needed when interfacing with legacy systems
that only accept pointer types, for example, sockets API. But we try to wrap those legacy interfaces as
much as possible and avoid that style of programming from leaking into the larger code base.
Religiously check if you can use const everywhere, for example, `const float * const xP`. Avoid using prefix or suffix to indicate pointer types in variable names, i.e. use `my_obj` instead of `myobj_ptr` except in cases where it might make sense to differentiate variables better, for example, `int mynum = 5; int* mynum_ptr = mynum;`
## Null Checking
In Unreal C++ code, when checking if a pointer is null, it is preferable to use `IsValid(ptr)`. In addition to checking for a null pointer, this function will also return whether a UObject is properly initialized. This is useful in situations where a UObject is in the process of being garbage collected but still set to a non-null value.
## Indentation
The C++ code base uses four spaces for indentation (not tabs).
## Line Breaks
Files should be committed with Unix line breaks. When working on Windows, git can be configured to checkout files with Windows line breaks and automatically convert from Windows to Unix line breaks when committing by running the following command:
```
git config --global core.autocrlf true
```
When working on Linux, it is preferable to configure git to checkout files with Unix line breaks by running the following command:
```
git config --global core.autocrlf input
```
For more details on this setting, see [this documentation](https://docs.github.com/en/get-started/getting-started-with-git/configuring-git-to-handle-line-endings).
## This is Too Short, ye?
Yes, and it's on purpose because no one likes to read 200 page coding guidelines. The goal here is to cover only most significant things which are
already not covered by [strict mode compilation in GCC](http://shitalshah.com/p/how-to-enable-and-use-gcc-strict-mode-compilation/) and Level 4
warnings-as-errors in VC++. If you had like to know about how to write better code in C++, please see [GotW](https://herbsutter.com/gotw/)
and [Effective Modern C++](http://shop.oreilly.com/product/0636920033707.do) book.
| AirSim/docs/coding_guidelines.md/0 | {
"file_path": "AirSim/docs/coding_guidelines.md",
"repo_id": "AirSim",
"token_count": 2244
} | 59 |
# How to Access Meshes in AIRSIM
AirSim supports the ability to access the static meshes that make up the scene.
## Mesh structure
Each mesh is represented with the below struct.
```cpp
struct MeshPositionVertexBuffersResponse {
Vector3r position;
Quaternionr orientation;
std::vector<float> vertices;
std::vector<uint32_t> indices;
std::string name;
};
```
* The position and orientation are in the Unreal coordinate system.
* The mesh itself is a triangular mesh represented by the vertices and the indices.
* The triangular mesh type is typically called a [Face-Vertex](https://en.wikipedia.org/wiki/Polygon_mesh#Face-vertex_meshes) Mesh. This means every triplet of indices hold the indexes of the vertices that make up the triangle/face.
* The x,y,z coordinates of the vertices are all stored in a single vector. This means the vertices vector is Nx3 where N is number of vertices.
* The position of the vertices are the global positions in the Unreal coordinate system. This means they have already been transformed by the position and orientation.
## How to use
The API to get the meshes in the scene is quite simple. However, one should note that the function call is very expensive and should
very rarely be called. In general this is ok because this function only accesses the static meshes which for most applications are
not changing during the duration of your program.
Note that you will have to use a 3rdparty library or your own custom code to actually interact with the received meshes. Below I utilize the
Python bindings of [libigl](https://github.com/libigl/libigl) to visualize the received meshes.
```python
import airsim
AIRSIM_HOST_IP='127.0.0.1'
client = airsim.VehicleClient(ip=AIRSIM_HOST_IP)
client.confirmConnection()
# List of returned meshes are received via this function
meshes=client.simGetMeshPositionVertexBuffers()
index=0
for m in meshes:
# Finds one of the cube meshes in the Blocks environment
if 'cube' in m.name:
# Code from here on relies on libigl. Libigl uses pybind11 to wrap C++ code. So here the built pyigl.so
# library is in the same directory as this example code.
# This is here as code for your own mesh library should require something similar
from pyigl import *
from iglhelpers import *
# Convert the lists to numpy arrays
vertex_list=np.array(m.vertices,dtype=np.float32)
indices=np.array(m.indices,dtype=np.uint32)
num_vertices=int(len(vertex_list)/3)
num_indices=len(indices)
# Libigl requires the shape to be Nx3 where N is number of vertices or indices
# It also requires the actual type to be double(float64) for vertices and int64 for the triangles/indices
vertices_reshaped=vertex_list.reshape((num_vertices,3))
indices_reshaped=indices.reshape((int(num_indices/3),3))
vertices_reshaped=vertices_reshaped.astype(np.float64)
indices_reshaped=indices_reshaped.astype(np.int64)
# Libigl function to convert to internal Eigen format
v_eig=p2e(vertices_reshaped)
i_eig=p2e(indices_reshaped)
# View the mesh
viewer = igl.glfw.Viewer()
viewer.data().set_mesh(v_eig,i_eig)
viewer.launch()
break
```
| AirSim/docs/meshes.md/0 | {
"file_path": "AirSim/docs/meshes.md",
"repo_id": "AirSim",
"token_count": 1075
} | 60 |
#! /bin/bash
# get path of current script: https://stackoverflow.com/a/39340259/207661
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
pushd "$SCRIPT_DIR" >/dev/null
set -e
set -x
# Get Unreal install directory
UnrealDir=$1
if [[ !(-z "UnrealDir") ]]; then
UnrealDir="$SCRIPT_DIR/UnrealEngine"
fi
# Install Unreal Engine
./install_unreal.sh $1
#install airsim
./setup.sh
./build.sh
#start Unreal editor with Blocks project
pushd "$UnrealDir" >/dev/null
if [ "$(uname)" == "Darwin" ]; then
Engine/Binaries/Mac/UE4Editor.app/Contents/MacOS/UE4Editor "$SCRIPT_DIR/Unreal/Environments/Blocks/Blocks.uproject" -game -log
else
Engine/Binaries/Linux/UE4Editor "$SCRIPT_DIR/Unreal/Environments/Blocks/Blocks.uproject" -game -log
fi
popd >/dev/null
popd >/dev/null
| AirSim/install_run_all.sh/0 | {
"file_path": "AirSim/install_run_all.sh",
"repo_id": "AirSim",
"token_count": 311
} | 61 |
<launch>
<!-- Vehicle limits (meters/second) -->
<param name="max_vel_vert_abs" type="double" value="10.0" />
<param name="max_vel_vert_abs" type="double" value="2.0" />
<!-- <param name="max_vel_horz_abs" type="double" value="0.5" /> -->
<!-- <param name="max_vel_horz_abs" type="double" value="0.5" /> -->
<param name="max_yaw_rate_degree" type="double" value="1.0" />
<!-- Gimbal limits (degrees) -->
<param name="gimbal_front_center_max_pitch" type="double" value="40.0" />
<param name="gimbal_front_center_min_pitch" type="double" value="-130.0" />
<param name="gimbal_front_center_max_yaw" type="double" value="320.0" />
<param name="gimbal_front_center_min_yaw" type="double" value="-320.0" />
<param name="gimbal_front_center_max_roll" type="double" value="20.0" />
<param name="gimbal_front_center_min_roll" type="double" value="-20.0" />
<!-- Gimbal limits (degrees) -->
<!-- <param name="gimbal_front_stereo_max_pitch" type="double" value="40.0" /> -->
<!-- <param name="gimbal_front_stereo_min_pitch" type="double" value="-130.0" /> -->
<!-- <param name="gimbal_front_stereo_max_yaw" type="double" value="320.0" /> -->
<!-- <param name="gimbal_front_stereo_min_yaw" type="double" value="-320.0" /> -->
<!-- <param name="gimbal_front_stereo_max_roll" type="double" value="20.0" /> -->
<!-- <param name="gimbal_front_stereo_min_roll" type="double" value="-20.0" /> -->
</launch> | AirSim/ros/src/airsim_ros_pkgs/launch/dynamic_constraints.launch/0 | {
"file_path": "AirSim/ros/src/airsim_ros_pkgs/launch/dynamic_constraints.launch",
"repo_id": "AirSim",
"token_count": 589
} | 62 |
#include "ros/ros.h"
#include "airsim_ros_wrapper.h"
#include <ros/spinner.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "airsim_node");
ros::NodeHandle nh;
ros::NodeHandle nh_private("~");
std::string host_ip = "localhost";
nh_private.getParam("host_ip", host_ip);
AirsimROSWrapper airsim_ros_wrapper(nh, nh_private, host_ip);
if (airsim_ros_wrapper.is_used_img_timer_cb_queue_) {
airsim_ros_wrapper.img_async_spinner_.start();
}
if (airsim_ros_wrapper.is_used_lidar_timer_cb_queue_) {
airsim_ros_wrapper.lidar_async_spinner_.start();
}
ros::spin();
return 0;
} | AirSim/ros/src/airsim_ros_pkgs/src/airsim_node.cpp/0 | {
"file_path": "AirSim/ros/src/airsim_ros_pkgs/src/airsim_node.cpp",
"repo_id": "AirSim",
"token_count": 297
} | 63 |
<launch>
<include file="$(find airsim_tutorial_pkgs)/launch/front_stereo_and_center_mono/depth_to_pointcloud.launch"/>
<include file="$(find airsim_tutorial_pkgs)/launch/front_stereo_and_center_mono/rviz.launch"/>
</launch> | AirSim/ros/src/airsim_tutorial_pkgs/launch/front_stereo_and_center_mono/front_stereo_and_center_mono.launch/0 | {
"file_path": "AirSim/ros/src/airsim_tutorial_pkgs/launch/front_stereo_and_center_mono/front_stereo_and_center_mono.launch",
"repo_id": "AirSim",
"token_count": 87
} | 64 |
std_msgs/Header header
string camera_name
string vehicle_name
geometry_msgs/Quaternion orientation | AirSim/ros2/src/airsim_interfaces/msg/GimbalAngleQuatCmd.msg/0 | {
"file_path": "AirSim/ros2/src/airsim_interfaces/msg/GimbalAngleQuatCmd.msg",
"repo_id": "AirSim",
"token_count": 28
} | 65 |
namespace math_common
{
template <typename T>
inline T rad2deg(const T radians)
{
return (radians / M_PI) * 180.0;
}
template <typename T>
inline T deg2rad(const T degrees)
{
return (degrees / 180.0) * M_PI;
}
template <typename T>
inline T wrap_to_pi(T radians)
{
int m = (int)(radians / (2 * M_PI));
radians = radians - m * 2 * M_PI;
if (radians > M_PI)
radians -= 2.0 * M_PI;
else if (radians < -M_PI)
radians += 2.0 * M_PI;
return radians;
}
template <typename T>
inline void wrap_to_pi_inplace(T& a)
{
a = wrap_to_pi(a);
}
template <class T>
inline T angular_dist(T from, T to)
{
wrap_to_pi_inplace(from);
wrap_to_pi_inplace(to);
T d = to - from;
if (d > M_PI)
d -= 2. * M_PI;
else if (d < -M_PI)
d += 2. * M_PI;
return d;
}
} | AirSim/ros2/src/airsim_ros_pkgs/include/math_common.h/0 | {
"file_path": "AirSim/ros2/src/airsim_ros_pkgs/include/math_common.h",
"repo_id": "AirSim",
"token_count": 406
} | 66 |
#include <rclcpp/rclcpp.hpp>
#include "pd_position_controller_simple.h"
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
rclcpp::NodeOptions node_options;
node_options.automatically_declare_parameters_from_overrides(true);
std::shared_ptr<rclcpp::Node> nh = rclcpp::Node::make_shared("pid_position_controller_simple_node", node_options);
PIDPositionController controller(nh);
rclcpp::spin(nh);
return 0;
} | AirSim/ros2/src/airsim_ros_pkgs/src/pd_position_controller_simple_node.cpp/0 | {
"file_path": "AirSim/ros2/src/airsim_ros_pkgs/src/pd_position_controller_simple_node.cpp",
"repo_id": "AirSim",
"token_count": 177
} | 67 |
// IMatchFinder.cs
using System;
namespace SevenZip.Compression.LZ
{
interface IInWindowStream
{
void SetStream(System.IO.Stream inStream);
void Init();
void ReleaseStream();
Byte GetIndexByte(Int32 index);
UInt32 GetMatchLen(Int32 index, UInt32 distance, UInt32 limit);
UInt32 GetNumAvailableBytes();
}
interface IMatchFinder : IInWindowStream
{
void Create(UInt32 historySize, UInt32 keepAddBufferBefore,
UInt32 matchMaxLen, UInt32 keepAddBufferAfter);
UInt32 GetMatches(UInt32[] distances);
void Skip(UInt32 num);
}
}
| AssetStudio/AssetStudio/7zip/Compress/LZ/IMatchFinder.cs/0 | {
"file_path": "AssetStudio/AssetStudio/7zip/Compress/LZ/IMatchFinder.cs",
"repo_id": "AssetStudio",
"token_count": 202
} | 68 |
/* Copyright 2015 Google Inc. All Rights Reserved.
Distributed under MIT license.
See file LICENSE for detail or copy at https://opensource.org/licenses/MIT
*/
namespace Org.Brotli.Dec
{
/// <summary>Unchecked exception used internally.</summary>
[System.Serializable]
internal class BrotliRuntimeException : System.Exception
{
internal BrotliRuntimeException(string message)
: base(message)
{
}
internal BrotliRuntimeException(string message, System.Exception cause)
: base(message, cause)
{
}
}
}
| AssetStudio/AssetStudio/Brotli/BrotliRuntimeException.cs/0 | {
"file_path": "AssetStudio/AssetStudio/Brotli/BrotliRuntimeException.cs",
"repo_id": "AssetStudio",
"token_count": 165
} | 69 |
// official Class ID Reference: https://docs.unity3d.com/Manual/ClassIDReference.html
namespace AssetStudio
{
public enum ClassIDType
{
UnknownType = -1,
Object = 0,
GameObject = 1,
Component = 2,
LevelGameManager = 3,
Transform = 4,
TimeManager = 5,
GlobalGameManager = 6,
Behaviour = 8,
GameManager = 9,
AudioManager = 11,
ParticleAnimator = 12,
InputManager = 13,
EllipsoidParticleEmitter = 15,
Pipeline = 17,
EditorExtension = 18,
Physics2DSettings = 19,
Camera = 20,
Material = 21,
MeshRenderer = 23,
Renderer = 25,
ParticleRenderer = 26,
Texture = 27,
Texture2D = 28,
OcclusionCullingSettings = 29,
GraphicsSettings = 30,
MeshFilter = 33,
OcclusionPortal = 41,
Mesh = 43,
Skybox = 45,
QualitySettings = 47,
Shader = 48,
TextAsset = 49,
Rigidbody2D = 50,
Physics2DManager = 51,
Collider2D = 53,
Rigidbody = 54,
PhysicsManager = 55,
Collider = 56,
Joint = 57,
CircleCollider2D = 58,
HingeJoint = 59,
PolygonCollider2D = 60,
BoxCollider2D = 61,
PhysicsMaterial2D = 62,
MeshCollider = 64,
BoxCollider = 65,
CompositeCollider2D = 66,
EdgeCollider2D = 68,
CapsuleCollider2D = 70,
ComputeShader = 72,
AnimationClip = 74,
ConstantForce = 75,
WorldParticleCollider = 76,
TagManager = 78,
AudioListener = 81,
AudioSource = 82,
AudioClip = 83,
RenderTexture = 84,
CustomRenderTexture = 86,
MeshParticleEmitter = 87,
ParticleEmitter = 88,
Cubemap = 89,
Avatar = 90,
AnimatorController = 91,
GUILayer = 92,
RuntimeAnimatorController = 93,
ScriptMapper = 94,
Animator = 95,
TrailRenderer = 96,
DelayedCallManager = 98,
TextMesh = 102,
RenderSettings = 104,
Light = 108,
CGProgram = 109,
BaseAnimationTrack = 110,
Animation = 111,
MonoBehaviour = 114,
MonoScript = 115,
MonoManager = 116,
Texture3D = 117,
NewAnimationTrack = 118,
Projector = 119,
LineRenderer = 120,
Flare = 121,
Halo = 122,
LensFlare = 123,
FlareLayer = 124,
HaloLayer = 125,
NavMeshAreas = 126,
NavMeshProjectSettings = 126,
HaloManager = 127,
Font = 128,
PlayerSettings = 129,
NamedObject = 130,
GUITexture = 131,
GUIText = 132,
GUIElement = 133,
PhysicMaterial = 134,
SphereCollider = 135,
CapsuleCollider = 136,
SkinnedMeshRenderer = 137,
FixedJoint = 138,
RaycastCollider = 140,
BuildSettings = 141,
AssetBundle = 142,
CharacterController = 143,
CharacterJoint = 144,
SpringJoint = 145,
WheelCollider = 146,
ResourceManager = 147,
NetworkView = 148,
NetworkManager = 149,
PreloadData = 150,
MovieTexture = 152,
ConfigurableJoint = 153,
TerrainCollider = 154,
MasterServerInterface = 155,
TerrainData = 156,
LightmapSettings = 157,
WebCamTexture = 158,
EditorSettings = 159,
InteractiveCloth = 160,
ClothRenderer = 161,
EditorUserSettings = 162,
SkinnedCloth = 163,
AudioReverbFilter = 164,
AudioHighPassFilter = 165,
AudioChorusFilter = 166,
AudioReverbZone = 167,
AudioEchoFilter = 168,
AudioLowPassFilter = 169,
AudioDistortionFilter = 170,
SparseTexture = 171,
AudioBehaviour = 180,
AudioFilter = 181,
WindZone = 182,
Cloth = 183,
SubstanceArchive = 184,
ProceduralMaterial = 185,
ProceduralTexture = 186,
Texture2DArray = 187,
CubemapArray = 188,
OffMeshLink = 191,
OcclusionArea = 192,
Tree = 193,
NavMeshObsolete = 194,
NavMeshAgent = 195,
NavMeshSettings = 196,
LightProbesLegacy = 197,
ParticleSystem = 198,
ParticleSystemRenderer = 199,
ShaderVariantCollection = 200,
LODGroup = 205,
BlendTree = 206,
Motion = 207,
NavMeshObstacle = 208,
SortingGroup = 210,
SpriteRenderer = 212,
Sprite = 213,
CachedSpriteAtlas = 214,
ReflectionProbe = 215,
ReflectionProbes = 216,
Terrain = 218,
LightProbeGroup = 220,
AnimatorOverrideController = 221,
CanvasRenderer = 222,
Canvas = 223,
RectTransform = 224,
CanvasGroup = 225,
BillboardAsset = 226,
BillboardRenderer = 227,
SpeedTreeWindAsset = 228,
AnchoredJoint2D = 229,
Joint2D = 230,
SpringJoint2D = 231,
DistanceJoint2D = 232,
HingeJoint2D = 233,
SliderJoint2D = 234,
WheelJoint2D = 235,
ClusterInputManager = 236,
BaseVideoTexture = 237,
NavMeshData = 238,
AudioMixer = 240,
AudioMixerController = 241,
AudioMixerGroupController = 243,
AudioMixerEffectController = 244,
AudioMixerSnapshotController = 245,
PhysicsUpdateBehaviour2D = 246,
ConstantForce2D = 247,
Effector2D = 248,
AreaEffector2D = 249,
PointEffector2D = 250,
PlatformEffector2D = 251,
SurfaceEffector2D = 252,
BuoyancyEffector2D = 253,
RelativeJoint2D = 254,
FixedJoint2D = 255,
FrictionJoint2D = 256,
TargetJoint2D = 257,
LightProbes = 258,
LightProbeProxyVolume = 259,
SampleClip = 271,
AudioMixerSnapshot = 272,
AudioMixerGroup = 273,
NScreenBridge = 280,
AssetBundleManifest = 290,
UnityAdsManager = 292,
RuntimeInitializeOnLoadManager = 300,
CloudWebServicesManager = 301,
UnityAnalyticsManager = 303,
CrashReportManager = 304,
PerformanceReportingManager = 305,
UnityConnectSettings = 310,
AvatarMask = 319,
PlayableDirector = 320,
VideoPlayer = 328,
VideoClip = 329,
ParticleSystemForceField = 330,
SpriteMask = 331,
WorldAnchor = 362,
OcclusionCullingData = 363,
//kLargestRuntimeClassID = 364
SmallestEditorClassID = 1000,
PrefabInstance = 1001,
EditorExtensionImpl = 1002,
AssetImporter = 1003,
AssetDatabaseV1 = 1004,
Mesh3DSImporter = 1005,
TextureImporter = 1006,
ShaderImporter = 1007,
ComputeShaderImporter = 1008,
AudioImporter = 1020,
HierarchyState = 1026,
GUIDSerializer = 1027,
AssetMetaData = 1028,
DefaultAsset = 1029,
DefaultImporter = 1030,
TextScriptImporter = 1031,
SceneAsset = 1032,
NativeFormatImporter = 1034,
MonoImporter = 1035,
AssetServerCache = 1037,
LibraryAssetImporter = 1038,
ModelImporter = 1040,
FBXImporter = 1041,
TrueTypeFontImporter = 1042,
MovieImporter = 1044,
EditorBuildSettings = 1045,
DDSImporter = 1046,
InspectorExpandedState = 1048,
AnnotationManager = 1049,
PluginImporter = 1050,
EditorUserBuildSettings = 1051,
PVRImporter = 1052,
ASTCImporter = 1053,
KTXImporter = 1054,
IHVImageFormatImporter = 1055,
AnimatorStateTransition = 1101,
AnimatorState = 1102,
HumanTemplate = 1105,
AnimatorStateMachine = 1107,
PreviewAnimationClip = 1108,
AnimatorTransition = 1109,
SpeedTreeImporter = 1110,
AnimatorTransitionBase = 1111,
SubstanceImporter = 1112,
LightmapParameters = 1113,
LightingDataAsset = 1120,
GISRaster = 1121,
GISRasterImporter = 1122,
CadImporter = 1123,
SketchUpImporter = 1124,
BuildReport = 1125,
PackedAssets = 1126,
VideoClipImporter = 1127,
ActivationLogComponent = 2000,
//kLargestEditorClassID = 2001
//kClassIdOutOfHierarchy = 100000
//int = 100000,
//bool = 100001,
//float = 100002,
MonoObject = 100003,
Collision = 100004,
Vector3f = 100005,
RootMotionData = 100006,
Collision2D = 100007,
AudioMixerLiveUpdateFloat = 100008,
AudioMixerLiveUpdateBool = 100009,
Polygon2D = 100010,
//void = 100011,
TilemapCollider2D = 19719996,
AssetImporterLog = 41386430,
VFXRenderer = 73398921,
SerializableManagedRefTestClass = 76251197,
Grid = 156049354,
ScenesUsingAssets = 156483287,
ArticulationBody = 171741748,
Preset = 181963792,
EmptyObject = 277625683,
IConstraint = 285090594,
TestObjectWithSpecialLayoutOne = 293259124,
AssemblyDefinitionReferenceImporter = 294290339,
SiblingDerived = 334799969,
TestObjectWithSerializedMapStringNonAlignedStruct = 342846651,
SubDerived = 367388927,
AssetImportInProgressProxy = 369655926,
PluginBuildInfo = 382020655,
EditorProjectAccess = 426301858,
PrefabImporter = 468431735,
TestObjectWithSerializedArray = 478637458,
TestObjectWithSerializedAnimationCurve = 478637459,
TilemapRenderer = 483693784,
ScriptableCamera = 488575907,
SpriteAtlasAsset = 612988286,
SpriteAtlasDatabase = 638013454,
AudioBuildInfo = 641289076,
CachedSpriteAtlasRuntimeData = 644342135,
RendererFake = 646504946,
AssemblyDefinitionReferenceAsset = 662584278,
BuiltAssetBundleInfoSet = 668709126,
SpriteAtlas = 687078895,
RayTracingShaderImporter = 747330370,
RayTracingShader = 825902497,
LightingSettings = 850595691,
PlatformModuleSetup = 877146078,
VersionControlSettings = 890905787,
AimConstraint = 895512359,
VFXManager = 937362698,
VisualEffectSubgraph = 994735392,
VisualEffectSubgraphOperator = 994735403,
VisualEffectSubgraphBlock = 994735404,
LocalizationImporter = 1027052791,
Derived = 1091556383,
PropertyModificationsTargetTestObject = 1111377672,
ReferencesArtifactGenerator = 1114811875,
AssemblyDefinitionAsset = 1152215463,
SceneVisibilityState = 1154873562,
LookAtConstraint = 1183024399,
SpriteAtlasImporter = 1210832254,
MultiArtifactTestImporter = 1223240404,
GameObjectRecorder = 1268269756,
LightingDataAssetParent = 1325145578,
PresetManager = 1386491679,
TestObjectWithSpecialLayoutTwo = 1392443030,
StreamingManager = 1403656975,
LowerResBlitTexture = 1480428607,
StreamingController = 1542919678,
RenderPassAttachment = 1571458007,
TestObjectVectorPairStringBool = 1628831178,
GridLayout = 1742807556,
AssemblyDefinitionImporter = 1766753193,
ParentConstraint = 1773428102,
FakeComponent = 1803986026,
PositionConstraint = 1818360608,
RotationConstraint = 1818360609,
ScaleConstraint = 1818360610,
Tilemap = 1839735485,
PackageManifest = 1896753125,
PackageManifestImporter = 1896753126,
TerrainLayer = 1953259897,
SpriteShapeRenderer = 1971053207,
NativeObjectType = 1977754360,
TestObjectWithSerializedMapStringBool = 1981279845,
SerializableManagedHost = 1995898324,
VisualEffectAsset = 2058629509,
VisualEffectImporter = 2058629510,
VisualEffectResource = 2058629511,
VisualEffectObject = 2059678085,
VisualEffect = 2083052967,
LocalizationAsset = 2083778819,
ScriptedImporter = 2089858483
}
}
| AssetStudio/AssetStudio/ClassIDType.cs/0 | {
"file_path": "AssetStudio/AssetStudio/ClassIDType.cs",
"repo_id": "AssetStudio",
"token_count": 5804
} | 70 |
using System;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using System.Linq;
namespace AssetStudio
{
public class MinMaxAABB
{
public Vector3 m_Min;
public Vector3 m_Max;
public MinMaxAABB(BinaryReader reader)
{
m_Min = reader.ReadVector3();
m_Max = reader.ReadVector3();
}
}
public class CompressedMesh
{
public PackedFloatVector m_Vertices;
public PackedFloatVector m_UV;
public PackedFloatVector m_BindPoses;
public PackedFloatVector m_Normals;
public PackedFloatVector m_Tangents;
public PackedIntVector m_Weights;
public PackedIntVector m_NormalSigns;
public PackedIntVector m_TangentSigns;
public PackedFloatVector m_FloatColors;
public PackedIntVector m_BoneIndices;
public PackedIntVector m_Triangles;
public PackedIntVector m_Colors;
public uint m_UVInfo;
public CompressedMesh(ObjectReader reader)
{
var version = reader.version;
m_Vertices = new PackedFloatVector(reader);
m_UV = new PackedFloatVector(reader);
if (version[0] < 5)
{
m_BindPoses = new PackedFloatVector(reader);
}
m_Normals = new PackedFloatVector(reader);
m_Tangents = new PackedFloatVector(reader);
m_Weights = new PackedIntVector(reader);
m_NormalSigns = new PackedIntVector(reader);
m_TangentSigns = new PackedIntVector(reader);
if (version[0] >= 5)
{
m_FloatColors = new PackedFloatVector(reader);
}
m_BoneIndices = new PackedIntVector(reader);
m_Triangles = new PackedIntVector(reader);
if (version[0] > 3 || (version[0] == 3 && version[1] >= 5)) //3.5 and up
{
if (version[0] < 5)
{
m_Colors = new PackedIntVector(reader);
}
else
{
m_UVInfo = reader.ReadUInt32();
}
}
}
}
public class StreamInfo
{
public uint channelMask;
public uint offset;
public uint stride;
public uint align;
public byte dividerOp;
public ushort frequency;
public StreamInfo() { }
public StreamInfo(ObjectReader reader)
{
var version = reader.version;
channelMask = reader.ReadUInt32();
offset = reader.ReadUInt32();
if (version[0] < 4) //4.0 down
{
stride = reader.ReadUInt32();
align = reader.ReadUInt32();
}
else
{
stride = reader.ReadByte();
dividerOp = reader.ReadByte();
frequency = reader.ReadUInt16();
}
}
}
public class ChannelInfo
{
public byte stream;
public byte offset;
public byte format;
public byte dimension;
public ChannelInfo() { }
public ChannelInfo(ObjectReader reader)
{
stream = reader.ReadByte();
offset = reader.ReadByte();
format = reader.ReadByte();
dimension = (byte)(reader.ReadByte() & 0xF);
}
}
public class VertexData
{
public uint m_CurrentChannels;
public uint m_VertexCount;
public ChannelInfo[] m_Channels;
public StreamInfo[] m_Streams;
public byte[] m_DataSize;
public VertexData(ObjectReader reader)
{
var version = reader.version;
if (version[0] < 2018)//2018 down
{
m_CurrentChannels = reader.ReadUInt32();
}
m_VertexCount = reader.ReadUInt32();
if (version[0] >= 4) //4.0 and up
{
var m_ChannelsSize = reader.ReadInt32();
m_Channels = new ChannelInfo[m_ChannelsSize];
for (int i = 0; i < m_ChannelsSize; i++)
{
m_Channels[i] = new ChannelInfo(reader);
}
}
if (version[0] < 5) //5.0 down
{
if (version[0] < 4)
{
m_Streams = new StreamInfo[4];
}
else
{
m_Streams = new StreamInfo[reader.ReadInt32()];
}
for (int i = 0; i < m_Streams.Length; i++)
{
m_Streams[i] = new StreamInfo(reader);
}
if (version[0] < 4) //4.0 down
{
GetChannels(version);
}
}
else //5.0 and up
{
GetStreams(version);
}
m_DataSize = reader.ReadUInt8Array();
reader.AlignStream();
}
private void GetStreams(int[] version)
{
var streamCount = m_Channels.Max(x => x.stream) + 1;
m_Streams = new StreamInfo[streamCount];
uint offset = 0;
for (int s = 0; s < streamCount; s++)
{
uint chnMask = 0;
uint stride = 0;
for (int chn = 0; chn < m_Channels.Length; chn++)
{
var m_Channel = m_Channels[chn];
if (m_Channel.stream == s)
{
if (m_Channel.dimension > 0)
{
chnMask |= 1u << chn;
stride += m_Channel.dimension * MeshHelper.GetFormatSize(MeshHelper.ToVertexFormat(m_Channel.format, version));
}
}
}
m_Streams[s] = new StreamInfo
{
channelMask = chnMask,
offset = offset,
stride = stride,
dividerOp = 0,
frequency = 0
};
offset += m_VertexCount * stride;
//static size_t AlignStreamSize (size_t size) { return (size + (kVertexStreamAlign-1)) & ~(kVertexStreamAlign-1); }
offset = (offset + (16u - 1u)) & ~(16u - 1u);
}
}
private void GetChannels(int[] version)
{
m_Channels = new ChannelInfo[6];
for (int i = 0; i < 6; i++)
{
m_Channels[i] = new ChannelInfo();
}
for (var s = 0; s < m_Streams.Length; s++)
{
var m_Stream = m_Streams[s];
var channelMask = new BitArray(new[] { (int)m_Stream.channelMask });
byte offset = 0;
for (int i = 0; i < 6; i++)
{
if (channelMask.Get(i))
{
var m_Channel = m_Channels[i];
m_Channel.stream = (byte)s;
m_Channel.offset = offset;
switch (i)
{
case 0: //kShaderChannelVertex
case 1: //kShaderChannelNormal
m_Channel.format = 0; //kChannelFormatFloat
m_Channel.dimension = 3;
break;
case 2: //kShaderChannelColor
m_Channel.format = 2; //kChannelFormatColor
m_Channel.dimension = 4;
break;
case 3: //kShaderChannelTexCoord0
case 4: //kShaderChannelTexCoord1
m_Channel.format = 0; //kChannelFormatFloat
m_Channel.dimension = 2;
break;
case 5: //kShaderChannelTangent
m_Channel.format = 0; //kChannelFormatFloat
m_Channel.dimension = 4;
break;
}
offset += (byte)(m_Channel.dimension * MeshHelper.GetFormatSize(MeshHelper.ToVertexFormat(m_Channel.format, version)));
}
}
}
}
}
public class BoneWeights4
{
public float[] weight;
public int[] boneIndex;
public BoneWeights4()
{
weight = new float[4];
boneIndex = new int[4];
}
public BoneWeights4(ObjectReader reader)
{
weight = reader.ReadSingleArray(4);
boneIndex = reader.ReadInt32Array(4);
}
}
public class BlendShapeVertex
{
public Vector3 vertex;
public Vector3 normal;
public Vector3 tangent;
public uint index;
public BlendShapeVertex(ObjectReader reader)
{
vertex = reader.ReadVector3();
normal = reader.ReadVector3();
tangent = reader.ReadVector3();
index = reader.ReadUInt32();
}
}
public class MeshBlendShape
{
public uint firstVertex;
public uint vertexCount;
public bool hasNormals;
public bool hasTangents;
public MeshBlendShape(ObjectReader reader)
{
var version = reader.version;
if (version[0] == 4 && version[1] < 3) //4.3 down
{
var name = reader.ReadAlignedString();
}
firstVertex = reader.ReadUInt32();
vertexCount = reader.ReadUInt32();
if (version[0] == 4 && version[1] < 3) //4.3 down
{
var aabbMinDelta = reader.ReadVector3();
var aabbMaxDelta = reader.ReadVector3();
}
hasNormals = reader.ReadBoolean();
hasTangents = reader.ReadBoolean();
if (version[0] > 4 || (version[0] == 4 && version[1] >= 3)) //4.3 and up
{
reader.AlignStream();
}
}
}
public class MeshBlendShapeChannel
{
public string name;
public uint nameHash;
public int frameIndex;
public int frameCount;
public MeshBlendShapeChannel(ObjectReader reader)
{
name = reader.ReadAlignedString();
nameHash = reader.ReadUInt32();
frameIndex = reader.ReadInt32();
frameCount = reader.ReadInt32();
}
}
public class BlendShapeData
{
public BlendShapeVertex[] vertices;
public MeshBlendShape[] shapes;
public MeshBlendShapeChannel[] channels;
public float[] fullWeights;
public BlendShapeData(ObjectReader reader)
{
var version = reader.version;
if (version[0] > 4 || (version[0] == 4 && version[1] >= 3)) //4.3 and up
{
int numVerts = reader.ReadInt32();
vertices = new BlendShapeVertex[numVerts];
for (int i = 0; i < numVerts; i++)
{
vertices[i] = new BlendShapeVertex(reader);
}
int numShapes = reader.ReadInt32();
shapes = new MeshBlendShape[numShapes];
for (int i = 0; i < numShapes; i++)
{
shapes[i] = new MeshBlendShape(reader);
}
int numChannels = reader.ReadInt32();
channels = new MeshBlendShapeChannel[numChannels];
for (int i = 0; i < numChannels; i++)
{
channels[i] = new MeshBlendShapeChannel(reader);
}
fullWeights = reader.ReadSingleArray();
}
else
{
var m_ShapesSize = reader.ReadInt32();
var m_Shapes = new MeshBlendShape[m_ShapesSize];
for (int i = 0; i < m_ShapesSize; i++)
{
m_Shapes[i] = new MeshBlendShape(reader);
}
reader.AlignStream();
var m_ShapeVerticesSize = reader.ReadInt32();
var m_ShapeVertices = new BlendShapeVertex[m_ShapeVerticesSize]; //MeshBlendShapeVertex
for (int i = 0; i < m_ShapeVerticesSize; i++)
{
m_ShapeVertices[i] = new BlendShapeVertex(reader);
}
}
}
}
public enum GfxPrimitiveType
{
Triangles = 0,
TriangleStrip = 1,
Quads = 2,
Lines = 3,
LineStrip = 4,
Points = 5
};
public class SubMesh
{
public uint firstByte;
public uint indexCount;
public GfxPrimitiveType topology;
public uint triangleCount;
public uint baseVertex;
public uint firstVertex;
public uint vertexCount;
public AABB localAABB;
public SubMesh(ObjectReader reader)
{
var version = reader.version;
firstByte = reader.ReadUInt32();
indexCount = reader.ReadUInt32();
topology = (GfxPrimitiveType)reader.ReadInt32();
if (version[0] < 4) //4.0 down
{
triangleCount = reader.ReadUInt32();
}
if (version[0] > 2017 || (version[0] == 2017 && version[1] >= 3)) //2017.3 and up
{
baseVertex = reader.ReadUInt32();
}
if (version[0] >= 3) //3.0 and up
{
firstVertex = reader.ReadUInt32();
vertexCount = reader.ReadUInt32();
localAABB = new AABB(reader);
}
}
}
public sealed class Mesh : NamedObject
{
private bool m_Use16BitIndices = true;
public SubMesh[] m_SubMeshes;
private uint[] m_IndexBuffer;
public BlendShapeData m_Shapes;
public Matrix4x4[] m_BindPose;
public uint[] m_BoneNameHashes;
public int m_VertexCount;
public float[] m_Vertices;
public BoneWeights4[] m_Skin;
public float[] m_Normals;
public float[] m_Colors;
public float[] m_UV0;
public float[] m_UV1;
public float[] m_UV2;
public float[] m_UV3;
public float[] m_UV4;
public float[] m_UV5;
public float[] m_UV6;
public float[] m_UV7;
public float[] m_Tangents;
private VertexData m_VertexData;
private CompressedMesh m_CompressedMesh;
private StreamingInfo m_StreamData;
public List<uint> m_Indices = new List<uint>();
public Mesh(ObjectReader reader) : base(reader)
{
if (version[0] < 3 || (version[0] == 3 && version[1] < 5)) //3.5 down
{
m_Use16BitIndices = reader.ReadInt32() > 0;
}
if (version[0] == 2 && version[1] <= 5) //2.5 and down
{
int m_IndexBuffer_size = reader.ReadInt32();
if (m_Use16BitIndices)
{
m_IndexBuffer = new uint[m_IndexBuffer_size / 2];
for (int i = 0; i < m_IndexBuffer_size / 2; i++)
{
m_IndexBuffer[i] = reader.ReadUInt16();
}
reader.AlignStream();
}
else
{
m_IndexBuffer = reader.ReadUInt32Array(m_IndexBuffer_size / 4);
}
}
int m_SubMeshesSize = reader.ReadInt32();
m_SubMeshes = new SubMesh[m_SubMeshesSize];
for (int i = 0; i < m_SubMeshesSize; i++)
{
m_SubMeshes[i] = new SubMesh(reader);
}
if (version[0] > 4 || (version[0] == 4 && version[1] >= 1)) //4.1 and up
{
m_Shapes = new BlendShapeData(reader);
}
if (version[0] > 4 || (version[0] == 4 && version[1] >= 3)) //4.3 and up
{
m_BindPose = reader.ReadMatrixArray();
m_BoneNameHashes = reader.ReadUInt32Array();
var m_RootBoneNameHash = reader.ReadUInt32();
}
if (version[0] > 2 || (version[0] == 2 && version[1] >= 6)) //2.6.0 and up
{
if (version[0] >= 2019) //2019 and up
{
var m_BonesAABBSize = reader.ReadInt32();
var m_BonesAABB = new MinMaxAABB[m_BonesAABBSize];
for (int i = 0; i < m_BonesAABBSize; i++)
{
m_BonesAABB[i] = new MinMaxAABB(reader);
}
var m_VariableBoneCountWeights = reader.ReadUInt32Array();
}
var m_MeshCompression = reader.ReadByte();
if (version[0] >= 4)
{
if (version[0] < 5)
{
var m_StreamCompression = reader.ReadByte();
}
var m_IsReadable = reader.ReadBoolean();
var m_KeepVertices = reader.ReadBoolean();
var m_KeepIndices = reader.ReadBoolean();
}
reader.AlignStream();
//Unity fixed it in 2017.3.1p1 and later versions
if ((version[0] > 2017 || (version[0] == 2017 && version[1] >= 4)) || //2017.4
((version[0] == 2017 && version[1] == 3 && version[2] == 1) && buildType.IsPatch) || //fixed after 2017.3.1px
((version[0] == 2017 && version[1] == 3) && m_MeshCompression == 0))//2017.3.xfx with no compression
{
var m_IndexFormat = reader.ReadInt32();
m_Use16BitIndices = m_IndexFormat == 0;
}
int m_IndexBuffer_size = reader.ReadInt32();
if (m_Use16BitIndices)
{
m_IndexBuffer = new uint[m_IndexBuffer_size / 2];
for (int i = 0; i < m_IndexBuffer_size / 2; i++)
{
m_IndexBuffer[i] = reader.ReadUInt16();
}
reader.AlignStream();
}
else
{
m_IndexBuffer = reader.ReadUInt32Array(m_IndexBuffer_size / 4);
}
}
if (version[0] < 3 || (version[0] == 3 && version[1] < 5)) //3.4.2 and earlier
{
m_VertexCount = reader.ReadInt32();
m_Vertices = reader.ReadSingleArray(m_VertexCount * 3); //Vector3
m_Skin = new BoneWeights4[reader.ReadInt32()];
for (int s = 0; s < m_Skin.Length; s++)
{
m_Skin[s] = new BoneWeights4(reader);
}
m_BindPose = reader.ReadMatrixArray();
m_UV0 = reader.ReadSingleArray(reader.ReadInt32() * 2); //Vector2
m_UV1 = reader.ReadSingleArray(reader.ReadInt32() * 2); //Vector2
if (version[0] == 2 && version[1] <= 5) //2.5 and down
{
int m_TangentSpace_size = reader.ReadInt32();
m_Normals = new float[m_TangentSpace_size * 3];
m_Tangents = new float[m_TangentSpace_size * 4];
for (int v = 0; v < m_TangentSpace_size; v++)
{
m_Normals[v * 3] = reader.ReadSingle();
m_Normals[v * 3 + 1] = reader.ReadSingle();
m_Normals[v * 3 + 2] = reader.ReadSingle();
m_Tangents[v * 3] = reader.ReadSingle();
m_Tangents[v * 3 + 1] = reader.ReadSingle();
m_Tangents[v * 3 + 2] = reader.ReadSingle();
m_Tangents[v * 3 + 3] = reader.ReadSingle(); //handedness
}
}
else //2.6.0 and later
{
m_Tangents = reader.ReadSingleArray(reader.ReadInt32() * 4); //Vector4
m_Normals = reader.ReadSingleArray(reader.ReadInt32() * 3); //Vector3
}
}
else
{
if (version[0] < 2018 || (version[0] == 2018 && version[1] < 2)) //2018.2 down
{
m_Skin = new BoneWeights4[reader.ReadInt32()];
for (int s = 0; s < m_Skin.Length; s++)
{
m_Skin[s] = new BoneWeights4(reader);
}
}
if (version[0] == 3 || (version[0] == 4 && version[1] <= 2)) //4.2 and down
{
m_BindPose = reader.ReadMatrixArray();
}
m_VertexData = new VertexData(reader);
}
if (version[0] > 2 || (version[0] == 2 && version[1] >= 6)) //2.6.0 and later
{
m_CompressedMesh = new CompressedMesh(reader);
}
reader.Position += 24; //AABB m_LocalAABB
if (version[0] < 3 || (version[0] == 3 && version[1] <= 4)) //3.4.2 and earlier
{
int m_Colors_size = reader.ReadInt32();
m_Colors = new float[m_Colors_size * 4];
for (int v = 0; v < m_Colors_size * 4; v++)
{
m_Colors[v] = (float)reader.ReadByte() / 0xFF;
}
int m_CollisionTriangles_size = reader.ReadInt32();
reader.Position += m_CollisionTriangles_size * 4; //UInt32 indices
int m_CollisionVertexCount = reader.ReadInt32();
}
int m_MeshUsageFlags = reader.ReadInt32();
if (version[0] > 2022 || (version[0] == 2022 && version[1] >= 1)) //2022.1 and up
{
int m_CookingOptions = reader.ReadInt32();
}
if (version[0] >= 5) //5.0 and up
{
var m_BakedConvexCollisionMesh = reader.ReadUInt8Array();
reader.AlignStream();
var m_BakedTriangleCollisionMesh = reader.ReadUInt8Array();
reader.AlignStream();
}
if (version[0] > 2018 || (version[0] == 2018 && version[1] >= 2)) //2018.2 and up
{
var m_MeshMetrics = new float[2];
m_MeshMetrics[0] = reader.ReadSingle();
m_MeshMetrics[1] = reader.ReadSingle();
}
if (version[0] > 2018 || (version[0] == 2018 && version[1] >= 3)) //2018.3 and up
{
reader.AlignStream();
m_StreamData = new StreamingInfo(reader);
}
ProcessData();
}
private void ProcessData()
{
if (!string.IsNullOrEmpty(m_StreamData?.path))
{
if (m_VertexData.m_VertexCount > 0)
{
var resourceReader = new ResourceReader(m_StreamData.path, assetsFile, m_StreamData.offset, m_StreamData.size);
m_VertexData.m_DataSize = resourceReader.GetData();
}
}
if (version[0] > 3 || (version[0] == 3 && version[1] >= 5)) //3.5 and up
{
ReadVertexData();
}
if (version[0] > 2 || (version[0] == 2 && version[1] >= 6)) //2.6.0 and later
{
DecompressCompressedMesh();
}
GetTriangles();
}
private void ReadVertexData()
{
m_VertexCount = (int)m_VertexData.m_VertexCount;
for (var chn = 0; chn < m_VertexData.m_Channels.Length; chn++)
{
var m_Channel = m_VertexData.m_Channels[chn];
if (m_Channel.dimension > 0)
{
var m_Stream = m_VertexData.m_Streams[m_Channel.stream];
var channelMask = new BitArray(new[] { (int)m_Stream.channelMask });
if (channelMask.Get(chn))
{
if (version[0] < 2018 && chn == 2 && m_Channel.format == 2) //kShaderChannelColor && kChannelFormatColor
{
m_Channel.dimension = 4;
}
var vertexFormat = MeshHelper.ToVertexFormat(m_Channel.format, version);
var componentByteSize = (int)MeshHelper.GetFormatSize(vertexFormat);
var componentBytes = new byte[m_VertexCount * m_Channel.dimension * componentByteSize];
for (int v = 0; v < m_VertexCount; v++)
{
var vertexOffset = (int)m_Stream.offset + m_Channel.offset + (int)m_Stream.stride * v;
for (int d = 0; d < m_Channel.dimension; d++)
{
var componentOffset = vertexOffset + componentByteSize * d;
Buffer.BlockCopy(m_VertexData.m_DataSize, componentOffset, componentBytes, componentByteSize * (v * m_Channel.dimension + d), componentByteSize);
}
}
if (reader.Endian == EndianType.BigEndian && componentByteSize > 1) //swap bytes
{
for (var i = 0; i < componentBytes.Length / componentByteSize; i++)
{
var buff = new byte[componentByteSize];
Buffer.BlockCopy(componentBytes, i * componentByteSize, buff, 0, componentByteSize);
buff = buff.Reverse().ToArray();
Buffer.BlockCopy(buff, 0, componentBytes, i * componentByteSize, componentByteSize);
}
}
int[] componentsIntArray = null;
float[] componentsFloatArray = null;
if (MeshHelper.IsIntFormat(vertexFormat))
componentsIntArray = MeshHelper.BytesToIntArray(componentBytes, vertexFormat);
else
componentsFloatArray = MeshHelper.BytesToFloatArray(componentBytes, vertexFormat);
if (version[0] >= 2018)
{
switch (chn)
{
case 0: //kShaderChannelVertex
m_Vertices = componentsFloatArray;
break;
case 1: //kShaderChannelNormal
m_Normals = componentsFloatArray;
break;
case 2: //kShaderChannelTangent
m_Tangents = componentsFloatArray;
break;
case 3: //kShaderChannelColor
m_Colors = componentsFloatArray;
break;
case 4: //kShaderChannelTexCoord0
m_UV0 = componentsFloatArray;
break;
case 5: //kShaderChannelTexCoord1
m_UV1 = componentsFloatArray;
break;
case 6: //kShaderChannelTexCoord2
m_UV2 = componentsFloatArray;
break;
case 7: //kShaderChannelTexCoord3
m_UV3 = componentsFloatArray;
break;
case 8: //kShaderChannelTexCoord4
m_UV4 = componentsFloatArray;
break;
case 9: //kShaderChannelTexCoord5
m_UV5 = componentsFloatArray;
break;
case 10: //kShaderChannelTexCoord6
m_UV6 = componentsFloatArray;
break;
case 11: //kShaderChannelTexCoord7
m_UV7 = componentsFloatArray;
break;
//2018.2 and up
case 12: //kShaderChannelBlendWeight
if (m_Skin == null)
{
InitMSkin();
}
for (int i = 0; i < m_VertexCount; i++)
{
for (int j = 0; j < m_Channel.dimension; j++)
{
m_Skin[i].weight[j] = componentsFloatArray[i * m_Channel.dimension + j];
}
}
break;
case 13: //kShaderChannelBlendIndices
if (m_Skin == null)
{
InitMSkin();
}
for (int i = 0; i < m_VertexCount; i++)
{
for (int j = 0; j < m_Channel.dimension; j++)
{
m_Skin[i].boneIndex[j] = componentsIntArray[i * m_Channel.dimension + j];
}
}
break;
}
}
else
{
switch (chn)
{
case 0: //kShaderChannelVertex
m_Vertices = componentsFloatArray;
break;
case 1: //kShaderChannelNormal
m_Normals = componentsFloatArray;
break;
case 2: //kShaderChannelColor
m_Colors = componentsFloatArray;
break;
case 3: //kShaderChannelTexCoord0
m_UV0 = componentsFloatArray;
break;
case 4: //kShaderChannelTexCoord1
m_UV1 = componentsFloatArray;
break;
case 5:
if (version[0] >= 5) //kShaderChannelTexCoord2
{
m_UV2 = componentsFloatArray;
}
else //kShaderChannelTangent
{
m_Tangents = componentsFloatArray;
}
break;
case 6: //kShaderChannelTexCoord3
m_UV3 = componentsFloatArray;
break;
case 7: //kShaderChannelTangent
m_Tangents = componentsFloatArray;
break;
}
}
}
}
}
}
private void DecompressCompressedMesh()
{
//Vertex
if (m_CompressedMesh.m_Vertices.m_NumItems > 0)
{
m_VertexCount = (int)m_CompressedMesh.m_Vertices.m_NumItems / 3;
m_Vertices = m_CompressedMesh.m_Vertices.UnpackFloats(3, 3 * 4);
}
//UV
if (m_CompressedMesh.m_UV.m_NumItems > 0)
{
var m_UVInfo = m_CompressedMesh.m_UVInfo;
if (m_UVInfo != 0)
{
const int kInfoBitsPerUV = 4;
const int kUVDimensionMask = 3;
const int kUVChannelExists = 4;
const int kMaxTexCoordShaderChannels = 8;
int uvSrcOffset = 0;
for (int uv = 0; uv < kMaxTexCoordShaderChannels; uv++)
{
var texCoordBits = m_UVInfo >> (uv * kInfoBitsPerUV);
texCoordBits &= (1u << kInfoBitsPerUV) - 1u;
if ((texCoordBits & kUVChannelExists) != 0)
{
var uvDim = 1 + (int)(texCoordBits & kUVDimensionMask);
var m_UV = m_CompressedMesh.m_UV.UnpackFloats(uvDim, uvDim * 4, uvSrcOffset, m_VertexCount);
SetUV(uv, m_UV);
uvSrcOffset += uvDim * m_VertexCount;
}
}
}
else
{
m_UV0 = m_CompressedMesh.m_UV.UnpackFloats(2, 2 * 4, 0, m_VertexCount);
if (m_CompressedMesh.m_UV.m_NumItems >= m_VertexCount * 4)
{
m_UV1 = m_CompressedMesh.m_UV.UnpackFloats(2, 2 * 4, m_VertexCount * 2, m_VertexCount);
}
}
}
//BindPose
if (version[0] < 5)
{
if (m_CompressedMesh.m_BindPoses.m_NumItems > 0)
{
m_BindPose = new Matrix4x4[m_CompressedMesh.m_BindPoses.m_NumItems / 16];
var m_BindPoses_Unpacked = m_CompressedMesh.m_BindPoses.UnpackFloats(16, 4 * 16);
var buffer = new float[16];
for (int i = 0; i < m_BindPose.Length; i++)
{
Array.Copy(m_BindPoses_Unpacked, i * 16, buffer, 0, 16);
m_BindPose[i] = new Matrix4x4(buffer);
}
}
}
//Normal
if (m_CompressedMesh.m_Normals.m_NumItems > 0)
{
var normalData = m_CompressedMesh.m_Normals.UnpackFloats(2, 4 * 2);
var signs = m_CompressedMesh.m_NormalSigns.UnpackInts();
m_Normals = new float[m_CompressedMesh.m_Normals.m_NumItems / 2 * 3];
for (int i = 0; i < m_CompressedMesh.m_Normals.m_NumItems / 2; ++i)
{
var x = normalData[i * 2 + 0];
var y = normalData[i * 2 + 1];
var zsqr = 1 - x * x - y * y;
float z;
if (zsqr >= 0f)
z = (float)Math.Sqrt(zsqr);
else
{
z = 0;
var normal = new Vector3(x, y, z);
normal.Normalize();
x = normal.X;
y = normal.Y;
z = normal.Z;
}
if (signs[i] == 0)
z = -z;
m_Normals[i * 3] = x;
m_Normals[i * 3 + 1] = y;
m_Normals[i * 3 + 2] = z;
}
}
//Tangent
if (m_CompressedMesh.m_Tangents.m_NumItems > 0)
{
var tangentData = m_CompressedMesh.m_Tangents.UnpackFloats(2, 4 * 2);
var signs = m_CompressedMesh.m_TangentSigns.UnpackInts();
m_Tangents = new float[m_CompressedMesh.m_Tangents.m_NumItems / 2 * 4];
for (int i = 0; i < m_CompressedMesh.m_Tangents.m_NumItems / 2; ++i)
{
var x = tangentData[i * 2 + 0];
var y = tangentData[i * 2 + 1];
var zsqr = 1 - x * x - y * y;
float z;
if (zsqr >= 0f)
z = (float)Math.Sqrt(zsqr);
else
{
z = 0;
var vector3f = new Vector3(x, y, z);
vector3f.Normalize();
x = vector3f.X;
y = vector3f.Y;
z = vector3f.Z;
}
if (signs[i * 2 + 0] == 0)
z = -z;
var w = signs[i * 2 + 1] > 0 ? 1.0f : -1.0f;
m_Tangents[i * 4] = x;
m_Tangents[i * 4 + 1] = y;
m_Tangents[i * 4 + 2] = z;
m_Tangents[i * 4 + 3] = w;
}
}
//FloatColor
if (version[0] >= 5)
{
if (m_CompressedMesh.m_FloatColors.m_NumItems > 0)
{
m_Colors = m_CompressedMesh.m_FloatColors.UnpackFloats(1, 4);
}
}
//Skin
if (m_CompressedMesh.m_Weights.m_NumItems > 0)
{
var weights = m_CompressedMesh.m_Weights.UnpackInts();
var boneIndices = m_CompressedMesh.m_BoneIndices.UnpackInts();
InitMSkin();
int bonePos = 0;
int boneIndexPos = 0;
int j = 0;
int sum = 0;
for (int i = 0; i < m_CompressedMesh.m_Weights.m_NumItems; i++)
{
//read bone index and weight.
m_Skin[bonePos].weight[j] = weights[i] / 31.0f;
m_Skin[bonePos].boneIndex[j] = boneIndices[boneIndexPos++];
j++;
sum += weights[i];
//the weights add up to one. fill the rest for this vertex with zero, and continue with next one.
if (sum >= 31)
{
for (; j < 4; j++)
{
m_Skin[bonePos].weight[j] = 0;
m_Skin[bonePos].boneIndex[j] = 0;
}
bonePos++;
j = 0;
sum = 0;
}
//we read three weights, but they don't add up to one. calculate the fourth one, and read
//missing bone index. continue with next vertex.
else if (j == 3)
{
m_Skin[bonePos].weight[j] = (31 - sum) / 31.0f;
m_Skin[bonePos].boneIndex[j] = boneIndices[boneIndexPos++];
bonePos++;
j = 0;
sum = 0;
}
}
}
//IndexBuffer
if (m_CompressedMesh.m_Triangles.m_NumItems > 0)
{
m_IndexBuffer = Array.ConvertAll(m_CompressedMesh.m_Triangles.UnpackInts(), x => (uint)x);
}
//Color
if (m_CompressedMesh.m_Colors?.m_NumItems > 0)
{
m_CompressedMesh.m_Colors.m_NumItems *= 4;
m_CompressedMesh.m_Colors.m_BitSize /= 4;
var tempColors = m_CompressedMesh.m_Colors.UnpackInts();
m_Colors = new float[m_CompressedMesh.m_Colors.m_NumItems];
for (int v = 0; v < m_CompressedMesh.m_Colors.m_NumItems; v++)
{
m_Colors[v] = tempColors[v] / 255f;
}
}
}
private void GetTriangles()
{
foreach (var m_SubMesh in m_SubMeshes)
{
var firstIndex = m_SubMesh.firstByte / 2;
if (!m_Use16BitIndices)
{
firstIndex /= 2;
}
var indexCount = m_SubMesh.indexCount;
var topology = m_SubMesh.topology;
if (topology == GfxPrimitiveType.Triangles)
{
for (int i = 0; i < indexCount; i += 3)
{
m_Indices.Add(m_IndexBuffer[firstIndex + i]);
m_Indices.Add(m_IndexBuffer[firstIndex + i + 1]);
m_Indices.Add(m_IndexBuffer[firstIndex + i + 2]);
}
}
else if (version[0] < 4 || topology == GfxPrimitiveType.TriangleStrip)
{
// de-stripify :
uint triIndex = 0;
for (int i = 0; i < indexCount - 2; i++)
{
var a = m_IndexBuffer[firstIndex + i];
var b = m_IndexBuffer[firstIndex + i + 1];
var c = m_IndexBuffer[firstIndex + i + 2];
// skip degenerates
if (a == b || a == c || b == c)
continue;
// do the winding flip-flop of strips :
if ((i & 1) == 1)
{
m_Indices.Add(b);
m_Indices.Add(a);
}
else
{
m_Indices.Add(a);
m_Indices.Add(b);
}
m_Indices.Add(c);
triIndex += 3;
}
//fix indexCount
m_SubMesh.indexCount = triIndex;
}
else if (topology == GfxPrimitiveType.Quads)
{
for (int q = 0; q < indexCount; q += 4)
{
m_Indices.Add(m_IndexBuffer[firstIndex + q]);
m_Indices.Add(m_IndexBuffer[firstIndex + q + 1]);
m_Indices.Add(m_IndexBuffer[firstIndex + q + 2]);
m_Indices.Add(m_IndexBuffer[firstIndex + q]);
m_Indices.Add(m_IndexBuffer[firstIndex + q + 2]);
m_Indices.Add(m_IndexBuffer[firstIndex + q + 3]);
}
//fix indexCount
m_SubMesh.indexCount = indexCount / 2 * 3;
}
else
{
throw new NotSupportedException("Failed getting triangles. Submesh topology is lines or points.");
}
}
}
private void InitMSkin()
{
m_Skin = new BoneWeights4[m_VertexCount];
for (int i = 0; i < m_VertexCount; i++)
{
m_Skin[i] = new BoneWeights4();
}
}
private void SetUV(int uv, float[] m_UV)
{
switch (uv)
{
case 0:
m_UV0 = m_UV;
break;
case 1:
m_UV1 = m_UV;
break;
case 2:
m_UV2 = m_UV;
break;
case 3:
m_UV3 = m_UV;
break;
case 4:
m_UV4 = m_UV;
break;
case 5:
m_UV5 = m_UV;
break;
case 6:
m_UV6 = m_UV;
break;
case 7:
m_UV7 = m_UV;
break;
default:
throw new ArgumentOutOfRangeException();
}
}
public float[] GetUV(int uv)
{
switch (uv)
{
case 0:
return m_UV0;
case 1:
return m_UV1;
case 2:
return m_UV2;
case 3:
return m_UV3;
case 4:
return m_UV4;
case 5:
return m_UV5;
case 6:
return m_UV6;
case 7:
return m_UV7;
default:
throw new ArgumentOutOfRangeException();
}
}
}
public static class MeshHelper
{
public enum VertexChannelFormat
{
Float,
Float16,
Color,
Byte,
UInt32
}
public enum VertexFormat2017
{
Float,
Float16,
Color,
UNorm8,
SNorm8,
UNorm16,
SNorm16,
UInt8,
SInt8,
UInt16,
SInt16,
UInt32,
SInt32
}
public enum VertexFormat
{
Float,
Float16,
UNorm8,
SNorm8,
UNorm16,
SNorm16,
UInt8,
SInt8,
UInt16,
SInt16,
UInt32,
SInt32
}
public static VertexFormat ToVertexFormat(int format, int[] version)
{
if (version[0] < 2017)
{
switch ((VertexChannelFormat)format)
{
case VertexChannelFormat.Float:
return VertexFormat.Float;
case VertexChannelFormat.Float16:
return VertexFormat.Float16;
case VertexChannelFormat.Color: //in 4.x is size 4
return VertexFormat.UNorm8;
case VertexChannelFormat.Byte:
return VertexFormat.UInt8;
case VertexChannelFormat.UInt32: //in 5.x
return VertexFormat.UInt32;
default:
throw new ArgumentOutOfRangeException(nameof(format), format, null);
}
}
else if (version[0] < 2019)
{
switch ((VertexFormat2017)format)
{
case VertexFormat2017.Float:
return VertexFormat.Float;
case VertexFormat2017.Float16:
return VertexFormat.Float16;
case VertexFormat2017.Color:
case VertexFormat2017.UNorm8:
return VertexFormat.UNorm8;
case VertexFormat2017.SNorm8:
return VertexFormat.SNorm8;
case VertexFormat2017.UNorm16:
return VertexFormat.UNorm16;
case VertexFormat2017.SNorm16:
return VertexFormat.SNorm16;
case VertexFormat2017.UInt8:
return VertexFormat.UInt8;
case VertexFormat2017.SInt8:
return VertexFormat.SInt8;
case VertexFormat2017.UInt16:
return VertexFormat.UInt16;
case VertexFormat2017.SInt16:
return VertexFormat.SInt16;
case VertexFormat2017.UInt32:
return VertexFormat.UInt32;
case VertexFormat2017.SInt32:
return VertexFormat.SInt32;
default:
throw new ArgumentOutOfRangeException(nameof(format), format, null);
}
}
else
{
return (VertexFormat)format;
}
}
public static uint GetFormatSize(VertexFormat format)
{
switch (format)
{
case VertexFormat.Float:
case VertexFormat.UInt32:
case VertexFormat.SInt32:
return 4u;
case VertexFormat.Float16:
case VertexFormat.UNorm16:
case VertexFormat.SNorm16:
case VertexFormat.UInt16:
case VertexFormat.SInt16:
return 2u;
case VertexFormat.UNorm8:
case VertexFormat.SNorm8:
case VertexFormat.UInt8:
case VertexFormat.SInt8:
return 1u;
default:
throw new ArgumentOutOfRangeException(nameof(format), format, null);
}
}
public static bool IsIntFormat(VertexFormat format)
{
return format >= VertexFormat.UInt8;
}
public static float[] BytesToFloatArray(byte[] inputBytes, VertexFormat format)
{
var size = GetFormatSize(format);
var len = inputBytes.Length / size;
var result = new float[len];
for (int i = 0; i < len; i++)
{
switch (format)
{
case VertexFormat.Float:
result[i] = BitConverter.ToSingle(inputBytes, i * 4);
break;
case VertexFormat.Float16:
result[i] = Half.ToHalf(inputBytes, i * 2);
break;
case VertexFormat.UNorm8:
result[i] = inputBytes[i] / 255f;
break;
case VertexFormat.SNorm8:
result[i] = Math.Max((sbyte)inputBytes[i] / 127f, -1f);
break;
case VertexFormat.UNorm16:
result[i] = BitConverter.ToUInt16(inputBytes, i * 2) / 65535f;
break;
case VertexFormat.SNorm16:
result[i] = Math.Max(BitConverter.ToInt16(inputBytes, i * 2) / 32767f, -1f);
break;
}
}
return result;
}
public static int[] BytesToIntArray(byte[] inputBytes, VertexFormat format)
{
var size = GetFormatSize(format);
var len = inputBytes.Length / size;
var result = new int[len];
for (int i = 0; i < len; i++)
{
switch (format)
{
case VertexFormat.UInt8:
case VertexFormat.SInt8:
result[i] = inputBytes[i];
break;
case VertexFormat.UInt16:
case VertexFormat.SInt16:
result[i] = BitConverter.ToInt16(inputBytes, i * 2);
break;
case VertexFormat.UInt32:
case VertexFormat.SInt32:
result[i] = BitConverter.ToInt32(inputBytes, i * 4);
break;
}
}
return result;
}
}
}
| AssetStudio/AssetStudio/Classes/Mesh.cs/0 | {
"file_path": "AssetStudio/AssetStudio/Classes/Mesh.cs",
"repo_id": "AssetStudio",
"token_count": 32223
} | 71 |
using System;
using System.Collections.Generic;
using System.IO;
namespace AssetStudio
{
public class SecondarySpriteTexture
{
public PPtr<Texture2D> texture;
public string name;
public SecondarySpriteTexture(ObjectReader reader)
{
texture = new PPtr<Texture2D>(reader);
name = reader.ReadStringToNull();
}
}
public enum SpritePackingRotation
{
None = 0,
FlipHorizontal = 1,
FlipVertical = 2,
Rotate180 = 3,
Rotate90 = 4
};
public enum SpritePackingMode
{
Tight = 0,
Rectangle
};
public enum SpriteMeshType
{
FullRect,
Tight
};
public class SpriteSettings
{
public uint settingsRaw;
public uint packed;
public SpritePackingMode packingMode;
public SpritePackingRotation packingRotation;
public SpriteMeshType meshType;
public SpriteSettings(BinaryReader reader)
{
settingsRaw = reader.ReadUInt32();
packed = settingsRaw & 1; //1
packingMode = (SpritePackingMode)((settingsRaw >> 1) & 1); //1
packingRotation = (SpritePackingRotation)((settingsRaw >> 2) & 0xf); //4
meshType = (SpriteMeshType)((settingsRaw >> 6) & 1); //1
//reserved
}
}
public class SpriteVertex
{
public Vector3 pos;
public Vector2 uv;
public SpriteVertex(ObjectReader reader)
{
var version = reader.version;
pos = reader.ReadVector3();
if (version[0] < 4 || (version[0] == 4 && version[1] <= 3)) //4.3 and down
{
uv = reader.ReadVector2();
}
}
}
public class SpriteRenderData
{
public PPtr<Texture2D> texture;
public PPtr<Texture2D> alphaTexture;
public SecondarySpriteTexture[] secondaryTextures;
public SubMesh[] m_SubMeshes;
public byte[] m_IndexBuffer;
public VertexData m_VertexData;
public SpriteVertex[] vertices;
public ushort[] indices;
public Matrix4x4[] m_Bindpose;
public BoneWeights4[] m_SourceSkin;
public Rectf textureRect;
public Vector2 textureRectOffset;
public Vector2 atlasRectOffset;
public SpriteSettings settingsRaw;
public Vector4 uvTransform;
public float downscaleMultiplier;
public SpriteRenderData(ObjectReader reader)
{
var version = reader.version;
texture = new PPtr<Texture2D>(reader);
if (version[0] > 5 || (version[0] == 5 && version[1] >= 2)) //5.2 and up
{
alphaTexture = new PPtr<Texture2D>(reader);
}
if (version[0] >= 2019) //2019 and up
{
var secondaryTexturesSize = reader.ReadInt32();
secondaryTextures = new SecondarySpriteTexture[secondaryTexturesSize];
for (int i = 0; i < secondaryTexturesSize; i++)
{
secondaryTextures[i] = new SecondarySpriteTexture(reader);
}
}
if (version[0] > 5 || (version[0] == 5 && version[1] >= 6)) //5.6 and up
{
var m_SubMeshesSize = reader.ReadInt32();
m_SubMeshes = new SubMesh[m_SubMeshesSize];
for (int i = 0; i < m_SubMeshesSize; i++)
{
m_SubMeshes[i] = new SubMesh(reader);
}
m_IndexBuffer = reader.ReadUInt8Array();
reader.AlignStream();
m_VertexData = new VertexData(reader);
}
else
{
var verticesSize = reader.ReadInt32();
vertices = new SpriteVertex[verticesSize];
for (int i = 0; i < verticesSize; i++)
{
vertices[i] = new SpriteVertex(reader);
}
indices = reader.ReadUInt16Array();
reader.AlignStream();
}
if (version[0] >= 2018) //2018 and up
{
m_Bindpose = reader.ReadMatrixArray();
if (version[0] == 2018 && version[1] < 2) //2018.2 down
{
var m_SourceSkinSize = reader.ReadInt32();
for (int i = 0; i < m_SourceSkinSize; i++)
{
m_SourceSkin[i] = new BoneWeights4(reader);
}
}
}
textureRect = new Rectf(reader);
textureRectOffset = reader.ReadVector2();
if (version[0] > 5 || (version[0] == 5 && version[1] >= 6)) //5.6 and up
{
atlasRectOffset = reader.ReadVector2();
}
settingsRaw = new SpriteSettings(reader);
if (version[0] > 4 || (version[0] == 4 && version[1] >= 5)) //4.5 and up
{
uvTransform = reader.ReadVector4();
}
if (version[0] >= 2017) //2017 and up
{
downscaleMultiplier = reader.ReadSingle();
}
}
}
public class Rectf
{
public float x;
public float y;
public float width;
public float height;
public Rectf(BinaryReader reader)
{
x = reader.ReadSingle();
y = reader.ReadSingle();
width = reader.ReadSingle();
height = reader.ReadSingle();
}
}
public sealed class Sprite : NamedObject
{
public Rectf m_Rect;
public Vector2 m_Offset;
public Vector4 m_Border;
public float m_PixelsToUnits;
public Vector2 m_Pivot = new Vector2(0.5f, 0.5f);
public uint m_Extrude;
public bool m_IsPolygon;
public KeyValuePair<Guid, long> m_RenderDataKey;
public string[] m_AtlasTags;
public PPtr<SpriteAtlas> m_SpriteAtlas;
public SpriteRenderData m_RD;
public Vector2[][] m_PhysicsShape;
public Sprite(ObjectReader reader) : base(reader)
{
m_Rect = new Rectf(reader);
m_Offset = reader.ReadVector2();
if (version[0] > 4 || (version[0] == 4 && version[1] >= 5)) //4.5 and up
{
m_Border = reader.ReadVector4();
}
m_PixelsToUnits = reader.ReadSingle();
if (version[0] > 5
|| (version[0] == 5 && version[1] > 4)
|| (version[0] == 5 && version[1] == 4 && version[2] >= 2)
|| (version[0] == 5 && version[1] == 4 && version[2] == 1 && buildType.IsPatch && version[3] >= 3)) //5.4.1p3 and up
{
m_Pivot = reader.ReadVector2();
}
m_Extrude = reader.ReadUInt32();
if (version[0] > 5 || (version[0] == 5 && version[1] >= 3)) //5.3 and up
{
m_IsPolygon = reader.ReadBoolean();
reader.AlignStream();
}
if (version[0] >= 2017) //2017 and up
{
var first = new Guid(reader.ReadBytes(16));
var second = reader.ReadInt64();
m_RenderDataKey = new KeyValuePair<Guid, long>(first, second);
m_AtlasTags = reader.ReadStringArray();
m_SpriteAtlas = new PPtr<SpriteAtlas>(reader);
}
m_RD = new SpriteRenderData(reader);
if (version[0] >= 2017) //2017 and up
{
var m_PhysicsShapeSize = reader.ReadInt32();
m_PhysicsShape = new Vector2[m_PhysicsShapeSize][];
for (int i = 0; i < m_PhysicsShapeSize; i++)
{
m_PhysicsShape[i] = reader.ReadVector2Array();
}
}
//vector m_Bones 2018 and up
}
}
}
| AssetStudio/AssetStudio/Classes/Sprite.cs/0 | {
"file_path": "AssetStudio/AssetStudio/Classes/Sprite.cs",
"repo_id": "AssetStudio",
"token_count": 4130
} | 72 |
using System;
using System.Collections.Generic;
using System.IO;
namespace AssetStudio
{
public interface IImported
{
ImportedFrame RootFrame { get; }
List<ImportedMesh> MeshList { get; }
List<ImportedMaterial> MaterialList { get; }
List<ImportedTexture> TextureList { get; }
List<ImportedKeyframedAnimation> AnimationList { get; }
List<ImportedMorph> MorphList { get; }
}
public class ImportedFrame
{
public string Name { get; set; }
public Vector3 LocalRotation { get; set; }
public Vector3 LocalPosition { get; set; }
public Vector3 LocalScale { get; set; }
public ImportedFrame Parent { get; set; }
private List<ImportedFrame> children;
public ImportedFrame this[int i] => children[i];
public int Count => children.Count;
public string Path
{
get
{
var frame = this;
var path = frame.Name;
while (frame.Parent != null)
{
frame = frame.Parent;
path = frame.Name + "/" + path;
}
return path;
}
}
public ImportedFrame(int childrenCount = 0)
{
children = new List<ImportedFrame>(childrenCount);
}
public void AddChild(ImportedFrame obj)
{
children.Add(obj);
obj.Parent?.Remove(obj);
obj.Parent = this;
}
public void Remove(ImportedFrame frame)
{
children.Remove(frame);
}
public ImportedFrame FindFrameByPath(string path)
{
var name = path.Substring(path.LastIndexOf('/') + 1);
foreach (var frame in FindChilds(name))
{
if (frame.Path.EndsWith(path, StringComparison.Ordinal))
{
return frame;
}
}
return null;
}
public ImportedFrame FindRelativeFrameWithPath(string path)
{
var subs = path.Split(new[] { '/' }, 2);
foreach (var child in children)
{
if (child.Name == subs[0])
{
if (subs.Length == 1)
{
return child;
}
else
{
var result = child.FindRelativeFrameWithPath(subs[1]);
if (result != null)
return result;
}
}
}
return null;
}
public ImportedFrame FindFrame(string name)
{
if (Name == name)
{
return this;
}
foreach (var child in children)
{
var frame = child.FindFrame(name);
if (frame != null)
{
return frame;
}
}
return null;
}
public ImportedFrame FindChild(string name, bool recursive = true)
{
foreach (var child in children)
{
if (recursive)
{
var frame = child.FindFrame(name);
if (frame != null)
{
return frame;
}
}
else
{
if (child.Name == name)
{
return child;
}
}
}
return null;
}
public IEnumerable<ImportedFrame> FindChilds(string name)
{
if (Name == name)
{
yield return this;
}
foreach (var child in children)
{
foreach (var item in child.FindChilds(name))
{
yield return item;
}
}
}
}
public class ImportedMesh
{
public string Path { get; set; }
public List<ImportedVertex> VertexList { get; set; }
public List<ImportedSubmesh> SubmeshList { get; set; }
public List<ImportedBone> BoneList { get; set; }
public bool hasNormal { get; set; }
public bool[] hasUV { get; set; }
public bool hasTangent { get; set; }
public bool hasColor { get; set; }
}
public class ImportedSubmesh
{
public List<ImportedFace> FaceList { get; set; }
public string Material { get; set; }
public int BaseVertex { get; set; }
}
public class ImportedVertex
{
public Vector3 Vertex { get; set; }
public Vector3 Normal { get; set; }
public float[][] UV { get; set; }
public Vector4 Tangent { get; set; }
public Color Color { get; set; }
public float[] Weights { get; set; }
public int[] BoneIndices { get; set; }
}
public class ImportedFace
{
public int[] VertexIndices { get; set; }
}
public class ImportedBone
{
public string Path { get; set; }
public Matrix4x4 Matrix { get; set; }
}
public class ImportedMaterial
{
public string Name { get; set; }
public Color Diffuse { get; set; }
public Color Ambient { get; set; }
public Color Specular { get; set; }
public Color Emissive { get; set; }
public Color Reflection { get; set; }
public float Shininess { get; set; }
public float Transparency { get; set; }
public List<ImportedMaterialTexture> Textures { get; set; }
}
public class ImportedMaterialTexture
{
public string Name { get; set; }
public int Dest { get; set; }
public Vector2 Offset { get; set; }
public Vector2 Scale { get; set; }
}
public class ImportedTexture
{
public string Name { get; set; }
public byte[] Data { get; set; }
public ImportedTexture(MemoryStream stream, string name)
{
Name = name;
Data = stream.ToArray();
}
}
public class ImportedKeyframedAnimation
{
public string Name { get; set; }
public float SampleRate { get; set; }
public List<ImportedAnimationKeyframedTrack> TrackList { get; set; }
public ImportedAnimationKeyframedTrack FindTrack(string path)
{
var track = TrackList.Find(x => x.Path == path);
if (track == null)
{
track = new ImportedAnimationKeyframedTrack { Path = path };
TrackList.Add(track);
}
return track;
}
}
public class ImportedAnimationKeyframedTrack
{
public string Path { get; set; }
public List<ImportedKeyframe<Vector3>> Scalings = new List<ImportedKeyframe<Vector3>>();
public List<ImportedKeyframe<Vector3>> Rotations = new List<ImportedKeyframe<Vector3>>();
public List<ImportedKeyframe<Vector3>> Translations = new List<ImportedKeyframe<Vector3>>();
public ImportedBlendShape BlendShape;
}
public class ImportedKeyframe<T>
{
public float time { get; set; }
public T value { get; set; }
public ImportedKeyframe(float time, T value)
{
this.time = time;
this.value = value;
}
}
public class ImportedBlendShape
{
public string ChannelName;
public List<ImportedKeyframe<float>> Keyframes = new List<ImportedKeyframe<float>>();
}
public class ImportedMorph
{
public string Path { get; set; }
public List<ImportedMorphChannel> Channels { get; set; }
}
public class ImportedMorphChannel
{
public string Name { get; set; }
public List<ImportedMorphKeyframe> KeyframeList { get; set; }
}
public class ImportedMorphKeyframe
{
public bool hasNormals { get; set; }
public bool hasTangents { get; set; }
public float Weight { get; set; }
public List<ImportedMorphVertex> VertexList { get; set; }
}
public class ImportedMorphVertex
{
public uint Index { get; set; }
public ImportedVertex Vertex { get; set; }
}
public static class ImportedHelpers
{
public static ImportedMesh FindMesh(string path, List<ImportedMesh> importedMeshList)
{
foreach (var mesh in importedMeshList)
{
if (mesh.Path == path)
{
return mesh;
}
}
return null;
}
public static ImportedMaterial FindMaterial(string name, List<ImportedMaterial> importedMats)
{
foreach (var mat in importedMats)
{
if (mat.Name == name)
{
return mat;
}
}
return null;
}
public static ImportedTexture FindTexture(string name, List<ImportedTexture> importedTextureList)
{
if (string.IsNullOrEmpty(name))
{
return null;
}
foreach (var tex in importedTextureList)
{
if (tex.Name == name)
{
return tex;
}
}
return null;
}
}
}
| AssetStudio/AssetStudio/IImported.cs/0 | {
"file_path": "AssetStudio/AssetStudio/IImported.cs",
"repo_id": "AssetStudio",
"token_count": 4894
} | 73 |
using System.IO;
namespace AssetStudio
{
public class ResourceReader
{
private bool needSearch;
private string path;
private SerializedFile assetsFile;
private long offset;
private long size;
private BinaryReader reader;
public int Size { get => (int)size; }
public ResourceReader(string path, SerializedFile assetsFile, long offset, long size)
{
needSearch = true;
this.path = path;
this.assetsFile = assetsFile;
this.offset = offset;
this.size = size;
}
public ResourceReader(BinaryReader reader, long offset, long size)
{
this.reader = reader;
this.offset = offset;
this.size = size;
}
private BinaryReader GetReader()
{
if (needSearch)
{
var resourceFileName = Path.GetFileName(path);
if (assetsFile.assetsManager.resourceFileReaders.TryGetValue(resourceFileName, out reader))
{
needSearch = false;
return reader;
}
var assetsFileDirectory = Path.GetDirectoryName(assetsFile.fullName);
var resourceFilePath = Path.Combine(assetsFileDirectory, resourceFileName);
if (!File.Exists(resourceFilePath))
{
var findFiles = Directory.GetFiles(assetsFileDirectory, resourceFileName, SearchOption.AllDirectories);
if (findFiles.Length > 0)
{
resourceFilePath = findFiles[0];
}
}
if (File.Exists(resourceFilePath))
{
needSearch = false;
reader = new BinaryReader(File.OpenRead(resourceFilePath));
assetsFile.assetsManager.resourceFileReaders.Add(resourceFileName, reader);
return reader;
}
throw new FileNotFoundException($"Can't find the resource file {resourceFileName}");
}
else
{
return reader;
}
}
public byte[] GetData()
{
var binaryReader = GetReader();
binaryReader.BaseStream.Position = offset;
return binaryReader.ReadBytes((int)size);
}
public void GetData(byte[] buff)
{
var binaryReader = GetReader();
binaryReader.BaseStream.Position = offset;
binaryReader.Read(buff, 0, (int)size);
}
public void WriteData(string path)
{
var binaryReader = GetReader();
binaryReader.BaseStream.Position = offset;
using (var writer = File.OpenWrite(path))
{
binaryReader.BaseStream.CopyTo(writer, size);
}
}
}
}
| AssetStudio/AssetStudio/ResourceReader.cs/0 | {
"file_path": "AssetStudio/AssetStudio/ResourceReader.cs",
"repo_id": "AssetStudio",
"token_count": 1496
} | 74 |
#include "asfbx_anim_context.h"
AsFbxAnimContext::AsFbxAnimContext(bool32_t eulerFilter)
: lFilter(nullptr)
{
if (eulerFilter)
{
lFilter = new FbxAnimCurveFilterUnroll();
}
lAnimStack = nullptr;
lAnimLayer = nullptr;
lCurveSX = nullptr;
lCurveSY = nullptr;
lCurveSZ = nullptr;
lCurveRX = nullptr;
lCurveRY = nullptr;
lCurveRZ = nullptr;
lCurveTX = nullptr;
lCurveTY = nullptr;
lCurveTZ = nullptr;
pMesh = nullptr;
lBlendShape = nullptr;
lAnimCurve = nullptr;
}
| AssetStudio/AssetStudioFBXNative/asfbx_anim_context.cpp/0 | {
"file_path": "AssetStudio/AssetStudioFBXNative/asfbx_anim_context.cpp",
"repo_id": "AssetStudio",
"token_count": 223
} | 75 |
using AssetStudio.FbxInterop;
using AssetStudio.PInvoke;
using System.IO;
namespace AssetStudio
{
public static partial class Fbx
{
static Fbx()
{
DllLoader.PreloadDll(FbxDll.DllName);
}
public static Vector3 QuaternionToEuler(Quaternion q)
{
AsUtilQuaternionToEuler(q.X, q.Y, q.Z, q.W, out var x, out var y, out var z);
return new Vector3(x, y, z);
}
public static Quaternion EulerToQuaternion(Vector3 v)
{
AsUtilEulerToQuaternion(v.X, v.Y, v.Z, out var x, out var y, out var z, out var w);
return new Quaternion(x, y, z, w);
}
public static class Exporter
{
public static void Export(string path, IImported imported, bool eulerFilter, float filterPrecision,
bool allNodes, bool skins, bool animation, bool blendShape, bool castToBone, float boneSize, bool exportAllUvsAsDiffuseMaps, float scaleFactor, int versionIndex, bool isAscii)
{
var file = new FileInfo(path);
var dir = file.Directory;
if (!dir.Exists)
{
dir.Create();
}
var currentDir = Directory.GetCurrentDirectory();
Directory.SetCurrentDirectory(dir.FullName);
var name = Path.GetFileName(path);
using (var exporter = new FbxExporter(name, imported, allNodes, skins, castToBone, boneSize, exportAllUvsAsDiffuseMaps, scaleFactor, versionIndex, isAscii))
{
exporter.Initialize();
exporter.ExportAll(blendShape, animation, eulerFilter, filterPrecision);
}
Directory.SetCurrentDirectory(currentDir);
}
}
}
}
| AssetStudio/AssetStudioFBXWrapper/Fbx.cs/0 | {
"file_path": "AssetStudio/AssetStudioFBXWrapper/Fbx.cs",
"repo_id": "AssetStudio",
"token_count": 911
} | 76 |
using AssetStudio;
using System;
using System.Windows.Forms;
namespace AssetStudioGUI
{
public partial class ExportOptions : Form
{
public ExportOptions()
{
InitializeComponent();
assetGroupOptions.SelectedIndex = Properties.Settings.Default.assetGroupOption;
restoreExtensionName.Checked = Properties.Settings.Default.restoreExtensionName;
converttexture.Checked = Properties.Settings.Default.convertTexture;
convertAudio.Checked = Properties.Settings.Default.convertAudio;
var str = Properties.Settings.Default.convertType.ToString();
foreach (Control c in panel1.Controls)
{
if (c.Text == str)
{
((RadioButton)c).Checked = true;
break;
}
}
openAfterExport.Checked = Properties.Settings.Default.openAfterExport;
eulerFilter.Checked = Properties.Settings.Default.eulerFilter;
filterPrecision.Value = Properties.Settings.Default.filterPrecision;
exportAllNodes.Checked = Properties.Settings.Default.exportAllNodes;
exportSkins.Checked = Properties.Settings.Default.exportSkins;
exportAnimations.Checked = Properties.Settings.Default.exportAnimations;
exportBlendShape.Checked = Properties.Settings.Default.exportBlendShape;
castToBone.Checked = Properties.Settings.Default.castToBone;
exportAllUvsAsDiffuseMaps.Checked = Properties.Settings.Default.exportAllUvsAsDiffuseMaps;
boneSize.Value = Properties.Settings.Default.boneSize;
scaleFactor.Value = Properties.Settings.Default.scaleFactor;
fbxVersion.SelectedIndex = Properties.Settings.Default.fbxVersion;
fbxFormat.SelectedIndex = Properties.Settings.Default.fbxFormat;
}
private void OKbutton_Click(object sender, EventArgs e)
{
Properties.Settings.Default.assetGroupOption = assetGroupOptions.SelectedIndex;
Properties.Settings.Default.restoreExtensionName = restoreExtensionName.Checked;
Properties.Settings.Default.convertTexture = converttexture.Checked;
Properties.Settings.Default.convertAudio = convertAudio.Checked;
foreach (Control c in panel1.Controls)
{
if (((RadioButton)c).Checked)
{
Properties.Settings.Default.convertType = (ImageFormat)Enum.Parse(typeof(ImageFormat), c.Text);
break;
}
}
Properties.Settings.Default.openAfterExport = openAfterExport.Checked;
Properties.Settings.Default.eulerFilter = eulerFilter.Checked;
Properties.Settings.Default.filterPrecision = filterPrecision.Value;
Properties.Settings.Default.exportAllNodes = exportAllNodes.Checked;
Properties.Settings.Default.exportSkins = exportSkins.Checked;
Properties.Settings.Default.exportAnimations = exportAnimations.Checked;
Properties.Settings.Default.exportBlendShape = exportBlendShape.Checked;
Properties.Settings.Default.castToBone = castToBone.Checked;
Properties.Settings.Default.exportAllUvsAsDiffuseMaps = exportAllUvsAsDiffuseMaps.Checked;
Properties.Settings.Default.boneSize = boneSize.Value;
Properties.Settings.Default.scaleFactor = scaleFactor.Value;
Properties.Settings.Default.fbxVersion = fbxVersion.SelectedIndex;
Properties.Settings.Default.fbxFormat = fbxFormat.SelectedIndex;
Properties.Settings.Default.Save();
DialogResult = DialogResult.OK;
Close();
}
private void Cancel_Click(object sender, EventArgs e)
{
DialogResult = DialogResult.Cancel;
Close();
}
}
}
| AssetStudio/AssetStudioGUI/ExportOptions.cs/0 | {
"file_path": "AssetStudio/AssetStudioGUI/ExportOptions.cs",
"repo_id": "AssetStudio",
"token_count": 1657
} | 77 |
<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFrameworks>net472;netstandard2.0;net5.0;net6.0</TargetFrameworks>
<Version>0.16.0.0</Version>
<AssemblyVersion>0.16.0.0</AssemblyVersion>
<FileVersion>0.16.0.0</FileVersion>
<Copyright>Copyright © Perfare 2018-2022</Copyright>
<DebugType>embedded</DebugType>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="Mono.Cecil" Version="0.11.3" />
<PackageReference Include="SixLabors.ImageSharp.Drawing" Version="1.0.0-beta13" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\AssetStudio.PInvoke\AssetStudio.PInvoke.csproj" />
<ProjectReference Include="..\AssetStudioFBXWrapper\AssetStudioFBXWrapper.csproj" />
<ProjectReference Include="..\AssetStudio\AssetStudio.csproj" />
<ProjectReference Include="..\Texture2DDecoderWrapper\Texture2DDecoderWrapper.csproj" />
</ItemGroup>
</Project>
| AssetStudio/AssetStudioUtility/AssetStudioUtility.csproj/0 | {
"file_path": "AssetStudio/AssetStudioUtility/AssetStudioUtility.csproj",
"repo_id": "AssetStudio",
"token_count": 341
} | 78 |
using SixLabors.ImageSharp;
using SixLabors.ImageSharp.Formats.Bmp;
using SixLabors.ImageSharp.Formats.Tga;
using SixLabors.ImageSharp.PixelFormats;
using System.IO;
using System.Runtime.InteropServices;
namespace AssetStudio
{
public static class ImageExtensions
{
public static void WriteToStream(this Image image, Stream stream, ImageFormat imageFormat)
{
switch (imageFormat)
{
case ImageFormat.Jpeg:
image.SaveAsJpeg(stream);
break;
case ImageFormat.Png:
image.SaveAsPng(stream);
break;
case ImageFormat.Bmp:
image.Save(stream, new BmpEncoder
{
BitsPerPixel = BmpBitsPerPixel.Pixel32,
SupportTransparency = true
});
break;
case ImageFormat.Tga:
image.Save(stream, new TgaEncoder
{
BitsPerPixel = TgaBitsPerPixel.Pixel32,
Compression = TgaCompression.None
});
break;
}
}
public static MemoryStream ConvertToStream(this Image image, ImageFormat imageFormat)
{
var stream = new MemoryStream();
image.WriteToStream(stream, imageFormat);
return stream;
}
public static byte[] ConvertToBytes<TPixel>(this Image<TPixel> image) where TPixel : unmanaged, IPixel<TPixel>
{
if (image.TryGetSinglePixelSpan(out var pixelSpan))
{
return MemoryMarshal.AsBytes(pixelSpan).ToArray();
}
return null;
}
}
}
| AssetStudio/AssetStudioUtility/ImageExtensions.cs/0 | {
"file_path": "AssetStudio/AssetStudioUtility/ImageExtensions.cs",
"repo_id": "AssetStudio",
"token_count": 970
} | 79 |
// Unity C# reference source
// Copyright (c) Unity Technologies. For terms of use, see
// https://unity3d.com/legal/licenses/Unity_Reference_Only_License
using System;
using System.Collections.Generic;
using System.Linq;
using Mono.Cecil;
using Unity.CecilTools.Extensions;
namespace Unity.CecilTools
{
public static class CecilUtils
{
public static MethodDefinition FindInTypeExplicitImplementationFor(MethodDefinition interfaceMethod, TypeDefinition typeDefinition)
{
return typeDefinition.Methods.SingleOrDefault(m => m.Overrides.Any(o => o.CheckedResolve().SameAs(interfaceMethod)));
}
public static IEnumerable<TypeDefinition> AllInterfacesImplementedBy(TypeDefinition typeDefinition)
{
return TypeAndBaseTypesOf(typeDefinition).SelectMany(t => t.Interfaces).Select(i => i.InterfaceType.CheckedResolve()).Distinct();
}
public static IEnumerable<TypeDefinition> TypeAndBaseTypesOf(TypeReference typeReference)
{
while (typeReference != null)
{
var typeDefinition = typeReference.CheckedResolve();
yield return typeDefinition;
typeReference = typeDefinition.BaseType;
}
}
public static IEnumerable<TypeDefinition> BaseTypesOf(TypeReference typeReference)
{
return TypeAndBaseTypesOf(typeReference).Skip(1);
}
public static bool IsGenericList(TypeReference type)
{
return type.Name == "List`1" && type.SafeNamespace() == "System.Collections.Generic";
}
public static bool IsGenericDictionary(TypeReference type)
{
if (type is GenericInstanceType)
type = ((GenericInstanceType)type).ElementType;
return type.Name == "Dictionary`2" && type.SafeNamespace() == "System.Collections.Generic";
}
public static TypeReference ElementTypeOfCollection(TypeReference type)
{
var at = type as ArrayType;
if (at != null)
return at.ElementType;
if (IsGenericList(type))
return ((GenericInstanceType)type).GenericArguments.Single();
throw new ArgumentException();
}
}
}
| AssetStudio/AssetStudioUtility/Unity.CecilTools/CecilUtils.cs/0 | {
"file_path": "AssetStudio/AssetStudioUtility/Unity.CecilTools/CecilUtils.cs",
"repo_id": "AssetStudio",
"token_count": 915
} | 80 |
#pragma once
#include <stdint.h>
int decode_atc_rgb4(const uint8_t* data, uint32_t m_width, uint32_t m_height, uint32_t* image);
int decode_atc_rgba8(const uint8_t* data, uint32_t m_width, uint32_t m_height, uint32_t* image); | AssetStudio/Texture2DDecoderNative/atc.h/0 | {
"file_path": "AssetStudio/Texture2DDecoderNative/atc.h",
"repo_id": "AssetStudio",
"token_count": 99
} | 81 |
#pragma once
#ifndef FP16_BITCASTS_H
#define FP16_BITCASTS_H
#if defined(__cplusplus) && (__cplusplus >= 201103L)
#include <cstdint>
#elif !defined(__OPENCL_VERSION__)
#include <stdint.h>
#endif
static inline float fp32_from_bits(uint32_t w) {
#if defined(__OPENCL_VERSION__)
return as_float(w);
#elif defined(__CUDA_ARCH__)
return __uint_as_float((unsigned int) w);
#elif defined(__INTEL_COMPILER)
return _castu32_f32(w);
#else
union {
uint32_t as_bits;
float as_value;
} fp32 = { w };
return fp32.as_value;
#endif
}
static inline uint32_t fp32_to_bits(float f) {
#if defined(__OPENCL_VERSION__)
return as_uint(f);
#elif defined(__CUDA_ARCH__)
return (uint32_t) __float_as_uint(f);
#elif defined(__INTEL_COMPILER)
return _castf32_u32(f);
#else
union {
float as_value;
uint32_t as_bits;
} fp32 = { f };
return fp32.as_bits;
#endif
}
static inline double fp64_from_bits(uint64_t w) {
#if defined(__OPENCL_VERSION__)
return as_double(w);
#elif defined(__CUDA_ARCH__)
return __longlong_as_double((long long) w);
#elif defined(__INTEL_COMPILER)
return _castu64_f64(w);
#else
union {
uint64_t as_bits;
double as_value;
} fp64 = { w };
return fp64.as_value;
#endif
}
static inline uint64_t fp64_to_bits(double f) {
#if defined(__OPENCL_VERSION__)
return as_ulong(f);
#elif defined(__CUDA_ARCH__)
return (uint64_t) __double_as_longlong(f);
#elif defined(__INTEL_COMPILER)
return _castf64_u64(f);
#else
union {
double as_value;
uint64_t as_bits;
} fp64 = { f };
return fp64.as_bits;
#endif
}
#endif /* FP16_BITCASTS_H */
| AssetStudio/Texture2DDecoderNative/fp16/bitcasts.h/0 | {
"file_path": "AssetStudio/Texture2DDecoderNative/fp16/bitcasts.h",
"repo_id": "AssetStudio",
"token_count": 715
} | 82 |
# 更好的协程
上文讲了一串回调就是协程，显然这样写代码，增加逻辑，插入逻辑非常容易出错。我们需要利用异步语法把这个异步回调的形式改成同步的形式，幸好C#已经帮我们设计好了，看代码
```csharp
// example2_2
class Program
{
private static int loopCount = 0;
static void Main(string[] args)
{
OneThreadSynchronizationContext _ = OneThreadSynchronizationContext.Instance;
Console.WriteLine($"主线程: {Thread.CurrentThread.ManagedThreadId}");
Crontine();
while (true)
{
OneThreadSynchronizationContext.Instance.Update();
Thread.Sleep(1);
++loopCount;
if (loopCount % 10000 == 0)
{
Console.WriteLine($"loop count: {loopCount}");
}
}
}
private static async void Crontine()
{
await WaitTimeAsync(5000);
Console.WriteLine($"当前线程: {Thread.CurrentThread.ManagedThreadId}, WaitTimeAsync finsih loopCount的值是: {loopCount}");
await WaitTimeAsync(4000);
Console.WriteLine($"当前线程: {Thread.CurrentThread.ManagedThreadId}, WaitTimeAsync finsih loopCount的值是: {loopCount}");
await WaitTimeAsync(3000);
Console.WriteLine($"当前线程: {Thread.CurrentThread.ManagedThreadId}, WaitTimeAsync finsih loopCount的值是: {loopCount}");
}
private static Task WaitTimeAsync(int waitTime)
{
TaskCompletionSource<bool> tcs = new TaskCompletionSource<bool>();
Thread thread = new Thread(()=>WaitTime(waitTime, tcs));
thread.Start();
return tcs.Task;
}
/// <summary>
/// 在另外的线程等待
/// </summary>
private static void WaitTime(int waitTime, TaskCompletionSource<bool> tcs)
{
Thread.Sleep(waitTime);
// 将tcs扔回主线程执行
OneThreadSynchronizationContext.Instance.Post(o=>tcs.SetResult(true), null);
}
}
```
在这段代码里面，WaitTimeAsync方法中，我们利用了TaskCompletionSource类替代了之前传入的Action参数，WaitTimeAsync方法返回了一个Task类型的结果。WaitTime中我们把action()替换成了tcs.SetResult(true),WaitTimeAsync方法前使用await关键字，这样可以将一连串的回调改成同步的形式。这样一来代码显得十分简洁，开发起来也方便多了。
这里还有个技巧，我们发现WaitTime中需要将tcs.SetResult扔回到主线程执行，微软给我们提供了一种简单的方法，参考example2_2_2，在主线程设置好同步上下文，
```csharp
// example2_2_2
SynchronizationContext.SetSynchronizationContext(OneThreadSynchronizationContext.Instance);
```
在WaitTime中直接调用tcs.SetResult(true)就行了，回调会自动扔到同步上下文中，而同步上下文我们可以在主线程中取出回调执行，这样自动能够完成回到主线程的操作
```csharp
private static void WaitTime(int waitTime, TaskCompletionSource<bool> tcs)
{
Thread.Sleep(waitTime);
tcs.SetResult(true);
}
```
如果不设置同步上下文，你会发现打印出来当前线程就不是主线程了，这也是很多第三方库跟.net core内置库的用法，默认不回调到主线程，所以我们使用的时候需要设置下同步上下文。其实这个设计本人觉得没有必要，交由库的开发者去实现更好，尤其是在游戏开发中，逻辑全部是单线程的，回调每次都走一遍同步上下文就显得多余了，所以ET框架提供了不使用同步上下文的实现ETTask，代码更加简洁更加高效，这个后面会讲到。 | ET/Book/2.2更好的协程.md/0 | {
"file_path": "ET/Book/2.2更好的协程.md",
"repo_id": "ET",
"token_count": 2298
} | 83 |
类似魔兽世界，moba这种技能极其复杂，灵活性要求极高的技能系统，必须需要一套及其灵活的数值结构来搭配。数值结构设计好了，实现技能系统就会非常简单，否则就是一场灾难。比如魔兽世界，一个人物的数值属性非常之多，移动速度，力量，怒气，能量，集中值，魔法值，血量，最大血量，物理攻击，物理防御，法术攻击，法术防御，等等多达几十种之多。属性跟属性之间又相互影响，buff又会给属性增加绝对值，增加百分比，或者某种buff又会在算完所有的增加值之后再来给你翻个倍。
## 普通的做法:
一般就是写个数值类：
```c#
class Numeric
{
public int Hp;
public int MaxHp;
public int Speed;
// 能量
public int Energy;
public int MaxEnergy;
// 魔法
public int Mp;
public int MaxMp;
.....
}
```
仔细一想，我一个盗贼使用的是能量，为什么要有一个Mp的值？我一个法师使用的是魔法为什么要有能量的字段？纠结这个搞毛，当作没看见不就行了吗？实在不行，我来个继承？
```C#
// 法师数值
calss MageNumeric: Numeric
{
// 魔法
public int Mp;
public int MaxMp;
}
// 盗贼数值
calss RougeNumeric: Numeric
{
// 能量
public int Energy;
public int MaxEnergy;
}
```
10个种族，每个种族7，8种英雄，光这些数值类继承关系，你就得懵逼了吧。面向对象是难以适应这种灵活的复杂的需求的。
再来看看Numeric类，每种数值可不能只设计一个字段，比如说，我有个buff会增加10点Speed，还有种buff增加50%的speed，那我至少还得加三个二级属性字段
```c#
class Numeric
{
// 速度最终值
public int Speed;
// 速度初始值
public int SpeedInit;
// 速度增加值
public int SpeedAdd;
// 速度增加百分比值
public int SpeedPct;
}
```
SpeedAdd跟SpeedPct改变后，进行一次计算，就可以算出最终的速度值。buff只需要去修改SpeedAdd跟SpeedPct就行了。
```c#
Speed = (SpeedInit + SpeedAdd) * (100 + SpeedPct) / 100
```
每种属性都可能有好几种间接影响值，可以想想这个类是多么庞大，初略估计得有100多个字段。麻烦的是计算公式基本一样，但是就是无法统一成一个函数，例如MaxHp，也有buff影响
```c#
class Numeric
{
public int Speed;
public int SpeedInit;
public int SpeedAdd;
public int SpeedPct;
public int MaxHp;
public int MaxHpInit;
public int MaxHpAdd;
public int MaxHpPct;
}
```
也得写个Hp的计算公式
```c#
MaxHp=(MaxHpInit + MaxHpAdd) * (100 + MaxHpPct) / 100
```
几十种属性，就要写几十遍，并且每个二级属性改变都要正确调用对应的公式计算. 非常麻烦！
这样设计还有个很大的问题，buff配置表填对应的属性字段不是很好填，例如疾跑buff（增加速度50%），在buff表中怎么配置才能让程序简单的找到并操作SpeedPct字段呢？不好搞。
## ET框架采用了Key Value形式保存数值属性
```c#
using System.Collections.Generic;
namespace Model
{
public enum NumericType
{
Max = 10000,
Speed = 1000,
SpeedBase = Speed * 10 + 1,
SpeedAdd = Speed * 10 + 2,
SpeedPct = Speed * 10 + 3,
SpeedFinalAdd = Speed * 10 + 4,
SpeedFinalPct = Speed * 10 + 5,
Hp = 1001,
HpBase = Hp * 10 + 1,
MaxHp = 1002,
MaxHpBase = MaxHp * 10 + 1,
MaxHpAdd = MaxHp * 10 + 2,
MaxHpPct = MaxHp * 10 + 3,
MaxHpFinalAdd = MaxHp * 10 + 4,
MaxHpFinalPct = MaxHp * 10 + 5,
}
public class NumericComponent: Component
{
public readonly Dictionary<int, int> NumericDic = new Dictionary<int, int>();
public void Awake()
{
// 这里初始化base值
}
public float GetAsFloat(NumericType numericType)
{
return (float)GetByKey((int)numericType) / 10000;
}
public int GetAsInt(NumericType numericType)
{
return GetByKey((int)numericType);
}
public void Set(NumericType nt, float value)
{
this[nt] = (int) (value * 10000);
}
public void Set(NumericType nt, int value)
{
this[nt] = value;
}
public int this[NumericType numericType]
{
get
{
return this.GetByKey((int) numericType);
}
set
{
int v = this.GetByKey((int) numericType);
if (v == value)
{
return;
}
NumericDic[(int)numericType] = value;
Update(numericType);
}
}
private int GetByKey(int key)
{
int value = 0;
this.NumericDic.TryGetValue(key, out value);
return value;
}
public void Update(NumericType numericType)
{
if (numericType > NumericType.Max)
{
return;
}
int final = (int) numericType / 10;
int bas = final * 10 + 1;
int add = final * 10 + 2;
int pct = final * 10 + 3;
int finalAdd = final * 10 + 4;
int finalPct = final * 10 + 5;
// 一个数值可能会多种情况影响，比如速度,加个buff可能增加速度绝对值100，也有些buff增加10%速度，所以一个值可以由5个值进行控制其最终结果
// final = (((base + add) * (100 + pct) / 100) + finalAdd) * (100 + finalPct) / 100;
this.NumericDic[final] = ((this.GetByKey(bas) + this.GetByKey(add)) * (100 + this.GetByKey(pct)) / 100 + this.GetByKey(finalAdd)) * (100 + this.GetByKey(finalPct)) / 100;
Game.EventSystem.Run(EventIdType.NumbericChange, this.Entity.Id, numericType, final);
}
}
}
```
1.数值都用key value来保存，key是数值的类型，由NumericType来定义，value都是整数，float型也可以转成整数，例如乘以1000；key value保存属性会变得非常灵活，例如法师没有能量属性，那么初始化法师对象不加能量的key value就好了。盗贼没有法力值，没有法术伤害等等，初始化就不用加这些。
2.魔兽世界中，一个数值由5个值来影响，可以统一使用一条公式：
```
final = (((base + add) * (100 + pct) / 100) + finalAdd) * (100 + finalPct) / 100;
```
比如说速度值speed，有个初始值speedbase，有个buff1增加10点绝对速度，那么buff1创建的时候会给speedadd加10，buff1删除的时候给speedadd减10，buff2增加20%的速度，那么buff2创建的时候给speedpct加20，buff2删除的时候给speedpct减20.甚至可能有buff3，会在最终值上再加100%，那么buff3将影响speedfinalpct。这5个值发生改变，统一使用Update函数就可以重新计算对应的属性了。buff配置中对应数值字段相当简单，buff配置中填上相应的NumericType，程序很轻松就能操作对应的数值。
3.属性的改变可以统一抛出事件给其它模块订阅，写一个属性变化监视器变得非常简单。例如成就模块需要开发一个成就生命值超过1000，会获得长寿大师的成就。那么开发成就模块的人将订阅HP的变化：
```
/// 监视hp数值变化
[NumericWatcher(NumericType.Hp)]
public class NumericWatcher_Hp : INumericWatcher
{
public void Run(long id, int value)
{
if (value > 1000)
{
//获得成就长寿大师成就
}
}
}
```
同理，记录一次金币变化大于10000的异常日志等等都可以这样做。
有了这个数值组件，一个moba技能系统可以说已经完成了一半。
**代码地址：https://github.com/egametang/Egametang**
| ET/Book/5.6数值组件设计.md/0 | {
"file_path": "ET/Book/5.6数值组件设计.md",
"repo_id": "ET",
"token_count": 4408
} | 84 |
<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net8.0</TargetFramework>
<RootNamespace>ET</RootNamespace>
<LangVersion>12</LangVersion>
<AssemblyName>Loader</AssemblyName>
</PropertyGroup>
<PropertyGroup>
<AppendTargetFrameworkToOutputPath>false</AppendTargetFrameworkToOutputPath>
<SatelliteResourceLanguages>en</SatelliteResourceLanguages>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|AnyCPU'">
<DefineConstants>DOTNET</DefineConstants>
<OutputPath>..\..\Bin\</OutputPath>
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
<TreatWarningsAsErrors>true</TreatWarningsAsErrors>
<Optimize>false</Optimize>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|AnyCPU'">
<DefineConstants>DOTNET</DefineConstants>
<OutputPath>..\..\Bin\</OutputPath>
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
<TreatWarningsAsErrors>true</TreatWarningsAsErrors>
<Optimize>true</Optimize>
</PropertyGroup>
<ItemGroup>
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\..\Share\Analyzer\Share.Analyzer.csproj" OutputItemType="Analyzer" ReferenceOutputAssembly="false" />
<ProjectReference Include="..\..\Share\Share.SourceGenerator\Share.SourceGenerator.csproj" OutputItemType="Analyzer" ReferenceOutputAssembly="false" />
<ProjectReference Include="..\Core\DotNet.Core.csproj" />
<ProjectReference Include="..\ThirdParty\DotNet.ThirdParty.csproj" />
</ItemGroup>
</Project> | ET/DotNet/Loader/DotNet.Loader.csproj/0 | {
"file_path": "ET/DotNet/Loader/DotNet.Loader.csproj",
"repo_id": "ET",
"token_count": 671
} | 85 |
using System.Collections.Immutable;
using System.Linq;
using Microsoft.CodeAnalysis;
using Microsoft.CodeAnalysis.CSharp;
using Microsoft.CodeAnalysis.CSharp.Syntax;
using Microsoft.CodeAnalysis.Diagnostics;
namespace ET.Analyzer
{
[DiagnosticAnalyzer(LanguageNames.CSharp)]
public class DiableNewAnalyzer : DiagnosticAnalyzer
{
public override ImmutableArray<DiagnosticDescriptor> SupportedDiagnostics =>ImmutableArray.Create(DisableNewAnalyzerRule.Rule);
public override void Initialize(AnalysisContext context)
{
if (!AnalyzerGlobalSetting.EnableAnalyzer)
{
return;
}
context.ConfigureGeneratedCodeAnalysis(GeneratedCodeAnalysisFlags.None);
context.EnableConcurrentExecution();
context.RegisterSyntaxNodeAction(this.AnalyzeObjectCreationExpression, SyntaxKind.ObjectCreationExpression);
}
private void AnalyzeObjectCreationExpression(SyntaxNodeAnalysisContext context)
{
if (context.Node is not ObjectCreationExpressionSyntax objectCreationExpressionSyntax)
{
return;
}
var typeSymbol = context.SemanticModel.GetSymbolInfo(objectCreationExpressionSyntax.Type).Symbol as ITypeSymbol;
if (typeSymbol==null)
{
return;
}
if (typeSymbol.HasAttributeInTypeAndBaseTyes(Definition.DisableNewAttribute))
{
Diagnostic diagnostic = Diagnostic.Create(DisableNewAnalyzerRule.Rule, objectCreationExpressionSyntax?.GetLocation(),typeSymbol);
context.ReportDiagnostic(diagnostic);
}
}
}
}
| ET/Share/Analyzer/Analyzer/DiableNewAnalyzer.cs/0 | {
"file_path": "ET/Share/Analyzer/Analyzer/DiableNewAnalyzer.cs",
"repo_id": "ET",
"token_count": 745
} | 86 |
namespace ET.Analyzer
{
public static class AnalyzerGlobalSetting
{
/// <summary>
/// 是否开启项目的所有分析器
/// </summary>
public static bool EnableAnalyzer = true;
}
} | ET/Share/Analyzer/AnalyzerGlobalSetting.cs/0 | {
"file_path": "ET/Share/Analyzer/AnalyzerGlobalSetting.cs",
"repo_id": "ET",
"token_count": 111
} | 87 |
# Copyright (c) 2010-2011, Ethan Rublee
# Copyright (c) 2011-2014, Andrey Kamaev
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from this
# software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
# ------------------------------------------------------------------------------
# Android CMake toolchain file, for use with the Android NDK r5-r10d
# Requires cmake 2.6.3 or newer (2.8.9 or newer is recommended).
# See home page: https://github.com/taka-no-me/android-cmake
#
# Usage Linux:
# $ export ANDROID_NDK=/absolute/path/to/the/android-ndk
# $ mkdir build && cd build
# $ cmake -DCMAKE_TOOLCHAIN_FILE=path/to/the/android.toolchain.cmake ..
# $ make -j8
#
# Usage Windows:
# You need native port of make to build your project.
# Android NDK r7 (and newer) already has make.exe on board.
# For older NDK you have to install it separately.
# For example, this one: http://gnuwin32.sourceforge.net/packages/make.htm
#
# $ SET ANDROID_NDK=C:\absolute\path\to\the\android-ndk
# $ mkdir build && cd build
# $ cmake.exe -G"MinGW Makefiles"
# -DCMAKE_TOOLCHAIN_FILE=path\to\the\android.toolchain.cmake
# -DCMAKE_MAKE_PROGRAM="%ANDROID_NDK%\prebuilt\windows\bin\make.exe" ..
# $ cmake.exe --build .
#
#
# Options (can be set as cmake parameters: -D<option_name>=<value>):
# ANDROID_NDK=/opt/android-ndk - path to the NDK root.
# Can be set as environment variable. Can be set only at first cmake run.
#
# ANDROID_ABI=armeabi-v7a - specifies the target Application Binary
# Interface (ABI). This option nearly matches to the APP_ABI variable
# used by ndk-build tool from Android NDK.
#
# Possible targets are:
# "armeabi" - ARMv5TE based CPU with software floating point operations
# "armeabi-v7a" - ARMv7 based devices with hardware FPU instructions
# this ABI target is used by default
# "armeabi-v7a with NEON" - same as armeabi-v7a, but
# sets NEON as floating-point unit
# "armeabi-v7a with VFPV3" - same as armeabi-v7a, but
# sets VFPV3 as floating-point unit (has 32 registers instead of 16)
# "armeabi-v6 with VFP" - tuned for ARMv6 processors having VFP
# "x86" - IA-32 instruction set
# "mips" - MIPS32 instruction set
#
# 64-bit ABIs for NDK r10 and newer:
# "arm64-v8a" - ARMv8 AArch64 instruction set
# "x86_64" - Intel64 instruction set (r1)
# "mips64" - MIPS64 instruction set (r6)
#
# ANDROID_NATIVE_API_LEVEL=android-8 - level of Android API compile for.
# Option is read-only when standalone toolchain is used.
# Note: building for "android-L" requires explicit configuration.
#
# ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-4.9 - the name of compiler
# toolchain to be used. The list of possible values depends on the NDK
# version. For NDK r10c the possible values are:
#
# * aarch64-linux-android-4.9
# * aarch64-linux-android-clang3.4
# * aarch64-linux-android-clang3.5
# * arm-linux-androideabi-4.6
# * arm-linux-androideabi-4.8
# * arm-linux-androideabi-4.9 (default)
# * arm-linux-androideabi-clang3.4
# * arm-linux-androideabi-clang3.5
# * mips64el-linux-android-4.9
# * mips64el-linux-android-clang3.4
# * mips64el-linux-android-clang3.5
# * mipsel-linux-android-4.6
# * mipsel-linux-android-4.8
# * mipsel-linux-android-4.9
# * mipsel-linux-android-clang3.4
# * mipsel-linux-android-clang3.5
# * x86-4.6
# * x86-4.8
# * x86-4.9
# * x86-clang3.4
# * x86-clang3.5
# * x86_64-4.9
# * x86_64-clang3.4
# * x86_64-clang3.5
#
# ANDROID_FORCE_ARM_BUILD=OFF - set ON to generate 32-bit ARM instructions
# instead of Thumb. Is not available for "armeabi-v6 with VFP"
# (is forced to be ON) ABI.
#
# ANDROID_NO_UNDEFINED=ON - set ON to show all undefined symbols as linker
# errors even if they are not used.
#
# ANDROID_SO_UNDEFINED=OFF - set ON to allow undefined symbols in shared
# libraries. Automatically turned for NDK r5x and r6x due to GLESv2
# problems.
#
# ANDROID_STL=gnustl_static - specify the runtime to use.
#
# Possible values are:
# none -> Do not configure the runtime.
# system -> Use the default minimal system C++ runtime library.
# Implies -fno-rtti -fno-exceptions.
# Is not available for standalone toolchain.
# system_re -> Use the default minimal system C++ runtime library.
# Implies -frtti -fexceptions.
# Is not available for standalone toolchain.
# gabi++_static -> Use the GAbi++ runtime as a static library.
# Implies -frtti -fno-exceptions.
# Available for NDK r7 and newer.
# Is not available for standalone toolchain.
# gabi++_shared -> Use the GAbi++ runtime as a shared library.
# Implies -frtti -fno-exceptions.
# Available for NDK r7 and newer.
# Is not available for standalone toolchain.
# stlport_static -> Use the STLport runtime as a static library.
# Implies -fno-rtti -fno-exceptions for NDK before r7.
# Implies -frtti -fno-exceptions for NDK r7 and newer.
# Is not available for standalone toolchain.
# stlport_shared -> Use the STLport runtime as a shared library.
# Implies -fno-rtti -fno-exceptions for NDK before r7.
# Implies -frtti -fno-exceptions for NDK r7 and newer.
# Is not available for standalone toolchain.
# gnustl_static -> Use the GNU STL as a static library.
# Implies -frtti -fexceptions.
# gnustl_shared -> Use the GNU STL as a shared library.
# Implies -frtti -fno-exceptions.
# Available for NDK r7b and newer.
# Silently degrades to gnustl_static if not available.
#
# ANDROID_STL_FORCE_FEATURES=ON - turn rtti and exceptions support based on
# chosen runtime. If disabled, then the user is responsible for settings
# these options.
#
# What?:
# android-cmake toolchain searches for NDK/toolchain in the following order:
# ANDROID_NDK - cmake parameter
# ANDROID_NDK - environment variable
# ANDROID_STANDALONE_TOOLCHAIN - cmake parameter
# ANDROID_STANDALONE_TOOLCHAIN - environment variable
# ANDROID_NDK - default locations
# ANDROID_STANDALONE_TOOLCHAIN - default locations
#
# Make sure to do the following in your scripts:
# SET( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${my_cxx_flags}" )
# SET( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${my_cxx_flags}" )
# The flags will be prepopulated with critical flags, so don't loose them.
# Also be aware that toolchain also sets configuration-specific compiler
# flags and linker flags.
#
# ANDROID and BUILD_ANDROID will be set to true, you may test any of these
# variables to make necessary Android-specific configuration changes.
#
# Also ARMEABI or ARMEABI_V7A or X86 or MIPS or ARM64_V8A or X86_64 or MIPS64
# will be set true, mutually exclusive. NEON option will be set true
# if VFP is set to NEON.
#
# ------------------------------------------------------------------------------
cmake_minimum_required( VERSION 2.6.3 )
if( DEFINED CMAKE_CROSSCOMPILING )
# subsequent toolchain loading is not really needed
return()
endif()
if( CMAKE_TOOLCHAIN_FILE )
# touch toolchain variable to suppress "unused variable" warning
endif()
# inherit settings in recursive loads
get_property( _CMAKE_IN_TRY_COMPILE GLOBAL PROPERTY IN_TRY_COMPILE )
if( _CMAKE_IN_TRY_COMPILE )
include( "${CMAKE_CURRENT_SOURCE_DIR}/../android.toolchain.config.cmake" OPTIONAL )
endif()
# this one is important
if( CMAKE_VERSION VERSION_GREATER "3.0.99" )
set( CMAKE_SYSTEM_NAME Android )
else()
set( CMAKE_SYSTEM_NAME Linux )
endif()
# this one not so much
set( CMAKE_SYSTEM_VERSION 1 )
# rpath makes low sense for Android
set( CMAKE_SHARED_LIBRARY_RUNTIME_C_FLAG "" )
set( CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries." )
# NDK search paths
set( ANDROID_SUPPORTED_NDK_VERSIONS ${ANDROID_EXTRA_NDK_VERSIONS} -r10d -r10c -r10b -r10 -r9d -r9c -r9b -r9 -r8e -r8d -r8c -r8b -r8 -r7c -r7b -r7 -r6b -r6 -r5c -r5b -r5 "" )
if( NOT DEFINED ANDROID_NDK_SEARCH_PATHS )
if( CMAKE_HOST_WIN32 )
file( TO_CMAKE_PATH "$ENV{PROGRAMFILES}" ANDROID_NDK_SEARCH_PATHS )
set( ANDROID_NDK_SEARCH_PATHS "${ANDROID_NDK_SEARCH_PATHS}" "$ENV{SystemDrive}/NVPACK" )
else()
file( TO_CMAKE_PATH "$ENV{HOME}" ANDROID_NDK_SEARCH_PATHS )
set( ANDROID_NDK_SEARCH_PATHS /opt "${ANDROID_NDK_SEARCH_PATHS}/NVPACK" )
endif()
endif()
if( NOT DEFINED ANDROID_STANDALONE_TOOLCHAIN_SEARCH_PATH )
set( ANDROID_STANDALONE_TOOLCHAIN_SEARCH_PATH /opt/android-toolchain )
endif()
# known ABIs
set( ANDROID_SUPPORTED_ABIS_arm "armeabi-v7a;armeabi;armeabi-v7a with NEON;armeabi-v7a with VFPV3;armeabi-v6 with VFP" )
set( ANDROID_SUPPORTED_ABIS_arm64 "arm64-v8a" )
set( ANDROID_SUPPORTED_ABIS_x86 "x86" )
set( ANDROID_SUPPORTED_ABIS_x86_64 "x86_64" )
set( ANDROID_SUPPORTED_ABIS_mips "mips" )
set( ANDROID_SUPPORTED_ABIS_mips64 "mips64" )
# API level defaults
set( ANDROID_DEFAULT_NDK_API_LEVEL 8 )
set( ANDROID_DEFAULT_NDK_API_LEVEL_arm64 21 )
set( ANDROID_DEFAULT_NDK_API_LEVEL_x86 9 )
set( ANDROID_DEFAULT_NDK_API_LEVEL_x86_64 21 )
set( ANDROID_DEFAULT_NDK_API_LEVEL_mips 9 )
set( ANDROID_DEFAULT_NDK_API_LEVEL_mips64 21 )
macro( __LIST_FILTER listvar regex )
if( ${listvar} )
foreach( __val ${${listvar}} )
if( __val MATCHES "${regex}" )
list( REMOVE_ITEM ${listvar} "${__val}" )
endif()
endforeach()
endif()
endmacro()
macro( __INIT_VARIABLE var_name )
set( __test_path 0 )
foreach( __var ${ARGN} )
if( __var STREQUAL "PATH" )
set( __test_path 1 )
break()
endif()
endforeach()
if( __test_path AND NOT EXISTS "${${var_name}}" )
unset( ${var_name} CACHE )
endif()
if( " ${${var_name}}" STREQUAL " " )
set( __values 0 )
foreach( __var ${ARGN} )
if( __var STREQUAL "VALUES" )
set( __values 1 )
elseif( NOT __var STREQUAL "PATH" )
if( __var MATCHES "^ENV_.*$" )
string( REPLACE "ENV_" "" __var "${__var}" )
set( __value "$ENV{${__var}}" )
elseif( DEFINED ${__var} )
set( __value "${${__var}}" )
elseif( __values )
set( __value "${__var}" )
else()
set( __value "" )
endif()
if( NOT " ${__value}" STREQUAL " " AND (NOT __test_path OR EXISTS "${__value}") )
set( ${var_name} "${__value}" )
break()
endif()
endif()
endforeach()
unset( __value )
unset( __values )
endif()
if( __test_path )
file( TO_CMAKE_PATH "${${var_name}}" ${var_name} )
endif()
unset( __test_path )
endmacro()
macro( __DETECT_NATIVE_API_LEVEL _var _path )
set( __ndkApiLevelRegex "^[\t ]*#define[\t ]+__ANDROID_API__[\t ]+([0-9]+)[\t ]*.*$" )
file( STRINGS ${_path} __apiFileContent REGEX "${__ndkApiLevelRegex}" )
if( NOT __apiFileContent )
message( SEND_ERROR "Could not get Android native API level. Probably you have specified invalid level value, or your copy of NDK/toolchain is broken." )
endif()
string( REGEX REPLACE "${__ndkApiLevelRegex}" "\\1" ${_var} "${__apiFileContent}" )
unset( __apiFileContent )
unset( __ndkApiLevelRegex )
endmacro()
macro( __DETECT_TOOLCHAIN_MACHINE_NAME _var _root )
if( EXISTS "${_root}" )
file( GLOB __gccExePath RELATIVE "${_root}/bin/" "${_root}/bin/*-gcc${TOOL_OS_SUFFIX}" )
__LIST_FILTER( __gccExePath "^[.].*" )
list( LENGTH __gccExePath __gccExePathsCount )
if( NOT __gccExePathsCount EQUAL 1 AND NOT _CMAKE_IN_TRY_COMPILE )
message( WARNING "Could not determine machine name for compiler from ${_root}" )
set( ${_var} "" )
else()
get_filename_component( __gccExeName "${__gccExePath}" NAME_WE )
string( REPLACE "-gcc" "" ${_var} "${__gccExeName}" )
endif()
unset( __gccExePath )
unset( __gccExePathsCount )
unset( __gccExeName )
else()
set( ${_var} "" )
endif()
endmacro()
# fight against cygwin
set( ANDROID_FORBID_SYGWIN TRUE CACHE BOOL "Prevent cmake from working under cygwin and using cygwin tools")
mark_as_advanced( ANDROID_FORBID_SYGWIN )
if( ANDROID_FORBID_SYGWIN )
if( CYGWIN )
message( FATAL_ERROR "Android NDK and android-cmake toolchain are not welcome Cygwin. It is unlikely that this cmake toolchain will work under cygwin. But if you want to try then you can set cmake variable ANDROID_FORBID_SYGWIN to FALSE and rerun cmake." )
endif()
if( CMAKE_HOST_WIN32 )
# remove cygwin from PATH
set( __new_path "$ENV{PATH}")
__LIST_FILTER( __new_path "cygwin" )
set(ENV{PATH} "${__new_path}")
unset(__new_path)
endif()
endif()
# detect current host platform
if( NOT DEFINED ANDROID_NDK_HOST_X64 AND (CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "amd64|x86_64|AMD64" OR CMAKE_HOST_APPLE) )
set( ANDROID_NDK_HOST_X64 1 CACHE BOOL "Try to use 64-bit compiler toolchain" )
mark_as_advanced( ANDROID_NDK_HOST_X64 )
endif()
set( TOOL_OS_SUFFIX "" )
if( CMAKE_HOST_APPLE )
set( ANDROID_NDK_HOST_SYSTEM_NAME "darwin-x86_64" )
set( ANDROID_NDK_HOST_SYSTEM_NAME2 "darwin-x86" )
elseif( CMAKE_HOST_WIN32 )
set( ANDROID_NDK_HOST_SYSTEM_NAME "windows-x86_64" )
set( ANDROID_NDK_HOST_SYSTEM_NAME2 "windows" )
set( TOOL_OS_SUFFIX ".exe" )
elseif( CMAKE_HOST_UNIX )
set( ANDROID_NDK_HOST_SYSTEM_NAME "linux-x86_64" )
set( ANDROID_NDK_HOST_SYSTEM_NAME2 "linux-x86" )
else()
message( FATAL_ERROR "Cross-compilation on your platform is not supported by this cmake toolchain" )
endif()
if( NOT ANDROID_NDK_HOST_X64 )
set( ANDROID_NDK_HOST_SYSTEM_NAME ${ANDROID_NDK_HOST_SYSTEM_NAME2} )
endif()
# see if we have path to Android NDK
if( NOT ANDROID_NDK AND NOT ANDROID_STANDALONE_TOOLCHAIN )
__INIT_VARIABLE( ANDROID_NDK PATH ENV_ANDROID_NDK )
endif()
if( NOT ANDROID_NDK )
# see if we have path to Android standalone toolchain
__INIT_VARIABLE( ANDROID_STANDALONE_TOOLCHAIN PATH ENV_ANDROID_STANDALONE_TOOLCHAIN )
if( NOT ANDROID_STANDALONE_TOOLCHAIN )
#try to find Android NDK in one of the the default locations
set( __ndkSearchPaths )
foreach( __ndkSearchPath ${ANDROID_NDK_SEARCH_PATHS} )
foreach( suffix ${ANDROID_SUPPORTED_NDK_VERSIONS} )
list( APPEND __ndkSearchPaths "${__ndkSearchPath}/android-ndk${suffix}" )
endforeach()
endforeach()
__INIT_VARIABLE( ANDROID_NDK PATH VALUES ${__ndkSearchPaths} )
unset( __ndkSearchPaths )
if( ANDROID_NDK )
message( STATUS "Using default path for Android NDK: ${ANDROID_NDK}" )
message( STATUS " If you prefer to use a different location, please define a cmake or environment variable: ANDROID_NDK" )
else()
#try to find Android standalone toolchain in one of the the default locations
__INIT_VARIABLE( ANDROID_STANDALONE_TOOLCHAIN PATH ANDROID_STANDALONE_TOOLCHAIN_SEARCH_PATH )
if( ANDROID_STANDALONE_TOOLCHAIN )
message( STATUS "Using default path for standalone toolchain ${ANDROID_STANDALONE_TOOLCHAIN}" )
message( STATUS " If you prefer to use a different location, please define the variable: ANDROID_STANDALONE_TOOLCHAIN" )
endif( ANDROID_STANDALONE_TOOLCHAIN )
endif( ANDROID_NDK )
endif( NOT ANDROID_STANDALONE_TOOLCHAIN )
endif( NOT ANDROID_NDK )
# remember found paths
if( ANDROID_NDK )
get_filename_component( ANDROID_NDK "${ANDROID_NDK}" ABSOLUTE )
set( ANDROID_NDK "${ANDROID_NDK}" CACHE INTERNAL "Path of the Android NDK" FORCE )
set( BUILD_WITH_ANDROID_NDK True )
if( EXISTS "${ANDROID_NDK}/RELEASE.TXT" )
file( STRINGS "${ANDROID_NDK}/RELEASE.TXT" ANDROID_NDK_RELEASE_FULL LIMIT_COUNT 1 REGEX "r[0-9]+[a-z]?" )
string( REGEX MATCH "r([0-9]+)([a-z]?)" ANDROID_NDK_RELEASE "${ANDROID_NDK_RELEASE_FULL}" )
else()
set( ANDROID_NDK_RELEASE "r1x" )
set( ANDROID_NDK_RELEASE_FULL "unreleased" )
endif()
string( REGEX REPLACE "r([0-9]+)([a-z]?)" "\\1*1000" ANDROID_NDK_RELEASE_NUM "${ANDROID_NDK_RELEASE}" )
string( FIND " abcdefghijklmnopqastuvwxyz" "${CMAKE_MATCH_2}" __ndkReleaseLetterNum )
math( EXPR ANDROID_NDK_RELEASE_NUM "${ANDROID_NDK_RELEASE_NUM}+${__ndkReleaseLetterNum}" )
elseif( ANDROID_STANDALONE_TOOLCHAIN )
get_filename_component( ANDROID_STANDALONE_TOOLCHAIN "${ANDROID_STANDALONE_TOOLCHAIN}" ABSOLUTE )
# try to detect change
if( CMAKE_AR )
string( LENGTH "${ANDROID_STANDALONE_TOOLCHAIN}" __length )
string( SUBSTRING "${CMAKE_AR}" 0 ${__length} __androidStandaloneToolchainPreviousPath )
if( NOT __androidStandaloneToolchainPreviousPath STREQUAL ANDROID_STANDALONE_TOOLCHAIN )
message( FATAL_ERROR "It is not possible to change path to the Android standalone toolchain on subsequent run." )
endif()
unset( __androidStandaloneToolchainPreviousPath )
unset( __length )
endif()
set( ANDROID_STANDALONE_TOOLCHAIN "${ANDROID_STANDALONE_TOOLCHAIN}" CACHE INTERNAL "Path of the Android standalone toolchain" FORCE )
set( BUILD_WITH_STANDALONE_TOOLCHAIN True )
else()
list(GET ANDROID_NDK_SEARCH_PATHS 0 ANDROID_NDK_SEARCH_PATH)
message( FATAL_ERROR "Could not find neither Android NDK nor Android standalone toolchain.
You should either set an environment variable:
export ANDROID_NDK=~/my-android-ndk
or
export ANDROID_STANDALONE_TOOLCHAIN=~/my-android-toolchain
or put the toolchain or NDK in the default path:
sudo ln -s ~/my-android-ndk ${ANDROID_NDK_SEARCH_PATH}/android-ndk
sudo ln -s ~/my-android-toolchain ${ANDROID_STANDALONE_TOOLCHAIN_SEARCH_PATH}" )
endif()
# android NDK layout
if( BUILD_WITH_ANDROID_NDK )
if( NOT DEFINED ANDROID_NDK_LAYOUT )
# try to automatically detect the layout
if( EXISTS "${ANDROID_NDK}/RELEASE.TXT")
set( ANDROID_NDK_LAYOUT "RELEASE" )
elseif( EXISTS "${ANDROID_NDK}/../../linux-x86/toolchain/" )
set( ANDROID_NDK_LAYOUT "LINARO" )
elseif( EXISTS "${ANDROID_NDK}/../../gcc/" )
set( ANDROID_NDK_LAYOUT "ANDROID" )
endif()
endif()
set( ANDROID_NDK_LAYOUT "${ANDROID_NDK_LAYOUT}" CACHE STRING "The inner layout of NDK" )
mark_as_advanced( ANDROID_NDK_LAYOUT )
if( ANDROID_NDK_LAYOUT STREQUAL "LINARO" )
set( ANDROID_NDK_HOST_SYSTEM_NAME ${ANDROID_NDK_HOST_SYSTEM_NAME2} ) # only 32-bit at the moment
set( ANDROID_NDK_TOOLCHAINS_PATH "${ANDROID_NDK}/../../${ANDROID_NDK_HOST_SYSTEM_NAME}/toolchain" )
set( ANDROID_NDK_TOOLCHAINS_SUBPATH "" )
set( ANDROID_NDK_TOOLCHAINS_SUBPATH2 "" )
elseif( ANDROID_NDK_LAYOUT STREQUAL "ANDROID" )
set( ANDROID_NDK_HOST_SYSTEM_NAME ${ANDROID_NDK_HOST_SYSTEM_NAME2} ) # only 32-bit at the moment
set( ANDROID_NDK_TOOLCHAINS_PATH "${ANDROID_NDK}/../../gcc/${ANDROID_NDK_HOST_SYSTEM_NAME}/arm" )
set( ANDROID_NDK_TOOLCHAINS_SUBPATH "" )
set( ANDROID_NDK_TOOLCHAINS_SUBPATH2 "" )
else() # ANDROID_NDK_LAYOUT STREQUAL "RELEASE"
set( ANDROID_NDK_TOOLCHAINS_PATH "${ANDROID_NDK}/toolchains" )
set( ANDROID_NDK_TOOLCHAINS_SUBPATH "/prebuilt/${ANDROID_NDK_HOST_SYSTEM_NAME}" )
set( ANDROID_NDK_TOOLCHAINS_SUBPATH2 "/prebuilt/${ANDROID_NDK_HOST_SYSTEM_NAME2}" )
endif()
get_filename_component( ANDROID_NDK_TOOLCHAINS_PATH "${ANDROID_NDK_TOOLCHAINS_PATH}" ABSOLUTE )
# try to detect change of NDK
if( CMAKE_AR )
string( LENGTH "${ANDROID_NDK_TOOLCHAINS_PATH}" __length )
string( SUBSTRING "${CMAKE_AR}" 0 ${__length} __androidNdkPreviousPath )
if( NOT __androidNdkPreviousPath STREQUAL ANDROID_NDK_TOOLCHAINS_PATH )
message( FATAL_ERROR "It is not possible to change the path to the NDK on subsequent CMake run. You must remove all generated files from your build folder first.
" )
endif()
unset( __androidNdkPreviousPath )
unset( __length )
endif()
endif()
# get all the details about standalone toolchain
if( BUILD_WITH_STANDALONE_TOOLCHAIN )
__DETECT_NATIVE_API_LEVEL( ANDROID_SUPPORTED_NATIVE_API_LEVELS "${ANDROID_STANDALONE_TOOLCHAIN}/sysroot/usr/include/android/api-level.h" )
set( ANDROID_STANDALONE_TOOLCHAIN_API_LEVEL ${ANDROID_SUPPORTED_NATIVE_API_LEVELS} )
set( __availableToolchains "standalone" )
__DETECT_TOOLCHAIN_MACHINE_NAME( __availableToolchainMachines "${ANDROID_STANDALONE_TOOLCHAIN}" )
if( NOT __availableToolchainMachines )
message( FATAL_ERROR "Could not determine machine name of your toolchain. Probably your Android standalone toolchain is broken." )
endif()
if( __availableToolchainMachines MATCHES x86_64 )
set( __availableToolchainArchs "x86_64" )
elseif( __availableToolchainMachines MATCHES i686 )
set( __availableToolchainArchs "x86" )
elseif( __availableToolchainMachines MATCHES aarch64 )
set( __availableToolchainArchs "arm64" )
elseif( __availableToolchainMachines MATCHES arm )
set( __availableToolchainArchs "arm" )
elseif( __availableToolchainMachines MATCHES mips64el )
set( __availableToolchainArchs "mips64" )
elseif( __availableToolchainMachines MATCHES mipsel )
set( __availableToolchainArchs "mips" )
endif()
execute_process( COMMAND "${ANDROID_STANDALONE_TOOLCHAIN}/bin/${__availableToolchainMachines}-gcc${TOOL_OS_SUFFIX}" -dumpversion
OUTPUT_VARIABLE __availableToolchainCompilerVersions OUTPUT_STRIP_TRAILING_WHITESPACE )
string( REGEX MATCH "[0-9]+[.][0-9]+([.][0-9]+)?" __availableToolchainCompilerVersions "${__availableToolchainCompilerVersions}" )
if( EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/bin/clang${TOOL_OS_SUFFIX}" )
list( APPEND __availableToolchains "standalone-clang" )
list( APPEND __availableToolchainMachines ${__availableToolchainMachines} )
list( APPEND __availableToolchainArchs ${__availableToolchainArchs} )
list( APPEND __availableToolchainCompilerVersions ${__availableToolchainCompilerVersions} )
endif()
endif()
macro( __GLOB_NDK_TOOLCHAINS __availableToolchainsVar __availableToolchainsLst __toolchain_subpath )
foreach( __toolchain ${${__availableToolchainsLst}} )
if( "${__toolchain}" MATCHES "-clang3[.][0-9]$" AND NOT EXISTS "${ANDROID_NDK_TOOLCHAINS_PATH}/${__toolchain}${__toolchain_subpath}" )
SET( __toolchainVersionRegex "^TOOLCHAIN_VERSION[\t ]+:=[\t ]+(.*)$" )
FILE( STRINGS "${ANDROID_NDK_TOOLCHAINS_PATH}/${__toolchain}/setup.mk" __toolchainVersionStr REGEX "${__toolchainVersionRegex}" )
if( __toolchainVersionStr )
string( REGEX REPLACE "${__toolchainVersionRegex}" "\\1" __toolchainVersionStr "${__toolchainVersionStr}" )
string( REGEX REPLACE "-clang3[.][0-9]$" "-${__toolchainVersionStr}" __gcc_toolchain "${__toolchain}" )
else()
string( REGEX REPLACE "-clang3[.][0-9]$" "-4.6" __gcc_toolchain "${__toolchain}" )
endif()
unset( __toolchainVersionStr )
unset( __toolchainVersionRegex )
else()
set( __gcc_toolchain "${__toolchain}" )
endif()
__DETECT_TOOLCHAIN_MACHINE_NAME( __machine "${ANDROID_NDK_TOOLCHAINS_PATH}/${__gcc_toolchain}${__toolchain_subpath}" )
if( __machine )
string( REGEX MATCH "[0-9]+[.][0-9]+([.][0-9x]+)?$" __version "${__gcc_toolchain}" )
if( __machine MATCHES x86_64 )
set( __arch "x86_64" )
elseif( __machine MATCHES i686 )
set( __arch "x86" )
elseif( __machine MATCHES aarch64 )
set( __arch "arm64" )
elseif( __machine MATCHES arm )
set( __arch "arm" )
elseif( __machine MATCHES mips64el )
set( __arch "mips64" )
elseif( __machine MATCHES mipsel )
set( __arch "mips" )
else()
set( __arch "" )
endif()
#message("machine: !${__machine}!\narch: !${__arch}!\nversion: !${__version}!\ntoolchain: !${__toolchain}!\n")
if (__arch)
list( APPEND __availableToolchainMachines "${__machine}" )
list( APPEND __availableToolchainArchs "${__arch}" )
list( APPEND __availableToolchainCompilerVersions "${__version}" )
list( APPEND ${__availableToolchainsVar} "${__toolchain}" )
endif()
endif()
unset( __gcc_toolchain )
endforeach()
endmacro()
# get all the details about NDK
if( BUILD_WITH_ANDROID_NDK )
file( GLOB ANDROID_SUPPORTED_NATIVE_API_LEVELS RELATIVE "${ANDROID_NDK}/platforms" "${ANDROID_NDK}/platforms/android-*" )
string( REPLACE "android-" "" ANDROID_SUPPORTED_NATIVE_API_LEVELS "${ANDROID_SUPPORTED_NATIVE_API_LEVELS}" )
set( __availableToolchains "" )
set( __availableToolchainMachines "" )
set( __availableToolchainArchs "" )
set( __availableToolchainCompilerVersions "" )
if( ANDROID_TOOLCHAIN_NAME AND EXISTS "${ANDROID_NDK_TOOLCHAINS_PATH}/${ANDROID_TOOLCHAIN_NAME}/" )
# do not go through all toolchains if we know the name
set( __availableToolchainsLst "${ANDROID_TOOLCHAIN_NAME}" )
__GLOB_NDK_TOOLCHAINS( __availableToolchains __availableToolchainsLst "${ANDROID_NDK_TOOLCHAINS_SUBPATH}" )
if( NOT __availableToolchains AND NOT ANDROID_NDK_TOOLCHAINS_SUBPATH STREQUAL ANDROID_NDK_TOOLCHAINS_SUBPATH2 )
__GLOB_NDK_TOOLCHAINS( __availableToolchains __availableToolchainsLst "${ANDROID_NDK_TOOLCHAINS_SUBPATH2}" )
if( __availableToolchains )
set( ANDROID_NDK_TOOLCHAINS_SUBPATH ${ANDROID_NDK_TOOLCHAINS_SUBPATH2} )
endif()
endif()
endif()
if( NOT __availableToolchains )
file( GLOB __availableToolchainsLst RELATIVE "${ANDROID_NDK_TOOLCHAINS_PATH}" "${ANDROID_NDK_TOOLCHAINS_PATH}/*" )
if( __availableToolchainsLst )
list(SORT __availableToolchainsLst) # we need clang to go after gcc
endif()
__LIST_FILTER( __availableToolchainsLst "^[.]" )
__LIST_FILTER( __availableToolchainsLst "llvm" )
__LIST_FILTER( __availableToolchainsLst "renderscript" )
__GLOB_NDK_TOOLCHAINS( __availableToolchains __availableToolchainsLst "${ANDROID_NDK_TOOLCHAINS_SUBPATH}" )
if( NOT __availableToolchains AND NOT ANDROID_NDK_TOOLCHAINS_SUBPATH STREQUAL ANDROID_NDK_TOOLCHAINS_SUBPATH2 )
__GLOB_NDK_TOOLCHAINS( __availableToolchains __availableToolchainsLst "${ANDROID_NDK_TOOLCHAINS_SUBPATH2}" )
if( __availableToolchains )
set( ANDROID_NDK_TOOLCHAINS_SUBPATH ${ANDROID_NDK_TOOLCHAINS_SUBPATH2} )
endif()
endif()
endif()
if( NOT __availableToolchains )
message( FATAL_ERROR "Could not find any working toolchain in the NDK. Probably your Android NDK is broken." )
endif()
endif()
# build list of available ABIs
set( ANDROID_SUPPORTED_ABIS "" )
set( __uniqToolchainArchNames ${__availableToolchainArchs} )
list( REMOVE_DUPLICATES __uniqToolchainArchNames )
list( SORT __uniqToolchainArchNames )
foreach( __arch ${__uniqToolchainArchNames} )
list( APPEND ANDROID_SUPPORTED_ABIS ${ANDROID_SUPPORTED_ABIS_${__arch}} )
endforeach()
unset( __uniqToolchainArchNames )
if( NOT ANDROID_SUPPORTED_ABIS )
message( FATAL_ERROR "No one of known Android ABIs is supported by this cmake toolchain." )
endif()
# choose target ABI
__INIT_VARIABLE( ANDROID_ABI VALUES ${ANDROID_SUPPORTED_ABIS} )
# verify that target ABI is supported
list( FIND ANDROID_SUPPORTED_ABIS "${ANDROID_ABI}" __androidAbiIdx )
if( __androidAbiIdx EQUAL -1 )
string( REPLACE ";" "\", \"" PRINTABLE_ANDROID_SUPPORTED_ABIS "${ANDROID_SUPPORTED_ABIS}" )
message( FATAL_ERROR "Specified ANDROID_ABI = \"${ANDROID_ABI}\" is not supported by this cmake toolchain or your NDK/toolchain.
Supported values are: \"${PRINTABLE_ANDROID_SUPPORTED_ABIS}\"
" )
endif()
unset( __androidAbiIdx )
# set target ABI options
if( ANDROID_ABI STREQUAL "x86" )
set( X86 true )
set( ANDROID_NDK_ABI_NAME "x86" )
set( ANDROID_ARCH_NAME "x86" )
set( ANDROID_LLVM_TRIPLE "i686-none-linux-android" )
set( CMAKE_SYSTEM_PROCESSOR "i686" )
elseif( ANDROID_ABI STREQUAL "x86_64" )
set( X86 true )
set( X86_64 true )
set( ANDROID_NDK_ABI_NAME "x86_64" )
set( ANDROID_ARCH_NAME "x86_64" )
set( CMAKE_SYSTEM_PROCESSOR "x86_64" )
set( ANDROID_LLVM_TRIPLE "x86_64-none-linux-android" )
elseif( ANDROID_ABI STREQUAL "mips64" )
set( MIPS64 true )
set( ANDROID_NDK_ABI_NAME "mips64" )
set( ANDROID_ARCH_NAME "mips64" )
set( ANDROID_LLVM_TRIPLE "mips64el-none-linux-android" )
set( CMAKE_SYSTEM_PROCESSOR "mips64" )
elseif( ANDROID_ABI STREQUAL "mips" )
set( MIPS true )
set( ANDROID_NDK_ABI_NAME "mips" )
set( ANDROID_ARCH_NAME "mips" )
set( ANDROID_LLVM_TRIPLE "mipsel-none-linux-android" )
set( CMAKE_SYSTEM_PROCESSOR "mips" )
elseif( ANDROID_ABI STREQUAL "arm64-v8a" )
set( ARM64_V8A true )
set( ANDROID_NDK_ABI_NAME "arm64-v8a" )
set( ANDROID_ARCH_NAME "arm64" )
set( ANDROID_LLVM_TRIPLE "aarch64-none-linux-android" )
set( CMAKE_SYSTEM_PROCESSOR "aarch64" )
set( VFPV3 true )
set( NEON true )
elseif( ANDROID_ABI STREQUAL "armeabi" )
set( ARMEABI true )
set( ANDROID_NDK_ABI_NAME "armeabi" )
set( ANDROID_ARCH_NAME "arm" )
set( ANDROID_LLVM_TRIPLE "armv5te-none-linux-androideabi" )
set( CMAKE_SYSTEM_PROCESSOR "armv5te" )
elseif( ANDROID_ABI STREQUAL "armeabi-v6 with VFP" )
set( ARMEABI_V6 true )
set( ANDROID_NDK_ABI_NAME "armeabi" )
set( ANDROID_ARCH_NAME "arm" )
set( ANDROID_LLVM_TRIPLE "armv5te-none-linux-androideabi" )
set( CMAKE_SYSTEM_PROCESSOR "armv6" )
# need always fallback to older platform
set( ARMEABI true )
elseif( ANDROID_ABI STREQUAL "armeabi-v7a")
set( ARMEABI_V7A true )
set( ANDROID_NDK_ABI_NAME "armeabi-v7a" )
set( ANDROID_ARCH_NAME "arm" )
set( ANDROID_LLVM_TRIPLE "armv7-none-linux-androideabi" )
set( CMAKE_SYSTEM_PROCESSOR "armv7-a" )
elseif( ANDROID_ABI STREQUAL "armeabi-v7a with VFPV3" )
set( ARMEABI_V7A true )
set( ANDROID_NDK_ABI_NAME "armeabi-v7a" )
set( ANDROID_ARCH_NAME "arm" )
set( ANDROID_LLVM_TRIPLE "armv7-none-linux-androideabi" )
set( CMAKE_SYSTEM_PROCESSOR "armv7-a" )
set( VFPV3 true )
elseif( ANDROID_ABI STREQUAL "armeabi-v7a with NEON" )
set( ARMEABI_V7A true )
set( ANDROID_NDK_ABI_NAME "armeabi-v7a" )
set( ANDROID_ARCH_NAME "arm" )
set( ANDROID_LLVM_TRIPLE "armv7-none-linux-androideabi" )
set( CMAKE_SYSTEM_PROCESSOR "armv7-a" )
set( VFPV3 true )
set( NEON true )
else()
message( SEND_ERROR "Unknown ANDROID_ABI=\"${ANDROID_ABI}\" is specified." )
endif()
if( CMAKE_BINARY_DIR AND EXISTS "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeSystem.cmake" )
# really dirty hack
# it is not possible to change CMAKE_SYSTEM_PROCESSOR after the first run...
file( APPEND "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeSystem.cmake" "SET(CMAKE_SYSTEM_PROCESSOR \"${CMAKE_SYSTEM_PROCESSOR}\")\n" )
endif()
if( ANDROID_ARCH_NAME STREQUAL "arm" AND NOT ARMEABI_V6 )
__INIT_VARIABLE( ANDROID_FORCE_ARM_BUILD VALUES OFF )
set( ANDROID_FORCE_ARM_BUILD ${ANDROID_FORCE_ARM_BUILD} CACHE BOOL "Use 32-bit ARM instructions instead of Thumb-1" FORCE )
mark_as_advanced( ANDROID_FORCE_ARM_BUILD )
else()
unset( ANDROID_FORCE_ARM_BUILD CACHE )
endif()
# choose toolchain
if( ANDROID_TOOLCHAIN_NAME )
list( FIND __availableToolchains "${ANDROID_TOOLCHAIN_NAME}" __toolchainIdx )
if( __toolchainIdx EQUAL -1 )
list( SORT __availableToolchains )
string( REPLACE ";" "\n * " toolchains_list "${__availableToolchains}" )
set( toolchains_list " * ${toolchains_list}")
message( FATAL_ERROR "Specified toolchain \"${ANDROID_TOOLCHAIN_NAME}\" is missing in your NDK or broken. Please verify that your NDK is working or select another compiler toolchain.
To configure the toolchain set CMake variable ANDROID_TOOLCHAIN_NAME to one of the following values:\n${toolchains_list}\n" )
endif()
list( GET __availableToolchainArchs ${__toolchainIdx} __toolchainArch )
if( NOT __toolchainArch STREQUAL ANDROID_ARCH_NAME )
message( SEND_ERROR "Selected toolchain \"${ANDROID_TOOLCHAIN_NAME}\" is not able to compile binaries for the \"${ANDROID_ARCH_NAME}\" platform." )
endif()
else()
set( __toolchainIdx -1 )
set( __applicableToolchains "" )
set( __toolchainMaxVersion "0.0.0" )
list( LENGTH __availableToolchains __availableToolchainsCount )
math( EXPR __availableToolchainsCount "${__availableToolchainsCount}-1" )
foreach( __idx RANGE ${__availableToolchainsCount} )
list( GET __availableToolchainArchs ${__idx} __toolchainArch )
if( __toolchainArch STREQUAL ANDROID_ARCH_NAME )
list( GET __availableToolchainCompilerVersions ${__idx} __toolchainVersion )
string( REPLACE "x" "99" __toolchainVersion "${__toolchainVersion}")
if( __toolchainVersion VERSION_GREATER __toolchainMaxVersion )
set( __toolchainMaxVersion "${__toolchainVersion}" )
set( __toolchainIdx ${__idx} )
endif()
endif()
endforeach()
unset( __availableToolchainsCount )
unset( __toolchainMaxVersion )
unset( __toolchainVersion )
endif()
unset( __toolchainArch )
if( __toolchainIdx EQUAL -1 )
message( FATAL_ERROR "No one of available compiler toolchains is able to compile for ${ANDROID_ARCH_NAME} platform." )
endif()
list( GET __availableToolchains ${__toolchainIdx} ANDROID_TOOLCHAIN_NAME )
list( GET __availableToolchainMachines ${__toolchainIdx} ANDROID_TOOLCHAIN_MACHINE_NAME )
list( GET __availableToolchainCompilerVersions ${__toolchainIdx} ANDROID_COMPILER_VERSION )
unset( __toolchainIdx )
unset( __availableToolchains )
unset( __availableToolchainMachines )
unset( __availableToolchainArchs )
unset( __availableToolchainCompilerVersions )
# choose native API level
__INIT_VARIABLE( ANDROID_NATIVE_API_LEVEL ENV_ANDROID_NATIVE_API_LEVEL ANDROID_API_LEVEL ENV_ANDROID_API_LEVEL ANDROID_STANDALONE_TOOLCHAIN_API_LEVEL ANDROID_DEFAULT_NDK_API_LEVEL_${ANDROID_ARCH_NAME} ANDROID_DEFAULT_NDK_API_LEVEL )
string( REPLACE "android-" "" ANDROID_NATIVE_API_LEVEL "${ANDROID_NATIVE_API_LEVEL}" )
string( STRIP "${ANDROID_NATIVE_API_LEVEL}" ANDROID_NATIVE_API_LEVEL )
# adjust API level
set( __real_api_level ${ANDROID_DEFAULT_NDK_API_LEVEL_${ANDROID_ARCH_NAME}} )
foreach( __level ${ANDROID_SUPPORTED_NATIVE_API_LEVELS} )
if( (__level LESS ANDROID_NATIVE_API_LEVEL OR __level STREQUAL ANDROID_NATIVE_API_LEVEL) AND NOT __level LESS __real_api_level )
set( __real_api_level ${__level} )
endif()
endforeach()
if( __real_api_level AND NOT ANDROID_NATIVE_API_LEVEL STREQUAL __real_api_level )
message( STATUS "Adjusting Android API level 'android-${ANDROID_NATIVE_API_LEVEL}' to 'android-${__real_api_level}'")
set( ANDROID_NATIVE_API_LEVEL ${__real_api_level} )
endif()
unset(__real_api_level)
# validate
list( FIND ANDROID_SUPPORTED_NATIVE_API_LEVELS "${ANDROID_NATIVE_API_LEVEL}" __levelIdx )
if( __levelIdx EQUAL -1 )
message( SEND_ERROR "Specified Android native API level 'android-${ANDROID_NATIVE_API_LEVEL}' is not supported by your NDK/toolchain." )
else()
if( BUILD_WITH_ANDROID_NDK )
__DETECT_NATIVE_API_LEVEL( __realApiLevel "${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include/android/api-level.h" )
if( NOT __realApiLevel EQUAL ANDROID_NATIVE_API_LEVEL AND NOT __realApiLevel GREATER 9000 )
message( SEND_ERROR "Specified Android API level (${ANDROID_NATIVE_API_LEVEL}) does not match to the level found (${__realApiLevel}). Probably your copy of NDK is broken." )
endif()
unset( __realApiLevel )
endif()
set( ANDROID_NATIVE_API_LEVEL "${ANDROID_NATIVE_API_LEVEL}" CACHE STRING "Android API level for native code" FORCE )
set( CMAKE_ANDROID_API ${ANDROID_NATIVE_API_LEVEL} )
if( CMAKE_VERSION VERSION_GREATER "2.8" )
list( SORT ANDROID_SUPPORTED_NATIVE_API_LEVELS )
set_property( CACHE ANDROID_NATIVE_API_LEVEL PROPERTY STRINGS ${ANDROID_SUPPORTED_NATIVE_API_LEVELS} )
endif()
endif()
unset( __levelIdx )
# remember target ABI
set( ANDROID_ABI "${ANDROID_ABI}" CACHE STRING "The target ABI for Android. If arm, then armeabi-v7a is recommended for hardware floating point." FORCE )
if( CMAKE_VERSION VERSION_GREATER "2.8" )
list( SORT ANDROID_SUPPORTED_ABIS_${ANDROID_ARCH_NAME} )
set_property( CACHE ANDROID_ABI PROPERTY STRINGS ${ANDROID_SUPPORTED_ABIS_${ANDROID_ARCH_NAME}} )
endif()
# runtime choice (STL, rtti, exceptions)
if( NOT ANDROID_STL )
set( ANDROID_STL gnustl_static )
endif()
set( ANDROID_STL "${ANDROID_STL}" CACHE STRING "C++ runtime" )
set( ANDROID_STL_FORCE_FEATURES ON CACHE BOOL "automatically configure rtti and exceptions support based on C++ runtime" )
mark_as_advanced( ANDROID_STL ANDROID_STL_FORCE_FEATURES )
if( BUILD_WITH_ANDROID_NDK )
if( NOT "${ANDROID_STL}" MATCHES "^(none|system|system_re|gabi\\+\\+_static|gabi\\+\\+_shared|stlport_static|stlport_shared|gnustl_static|gnustl_shared|c\\+\\+_shared|c\\+\\+_static)$")
message( FATAL_ERROR "ANDROID_STL is set to invalid value \"${ANDROID_STL}\".
The possible values are:
none -> Do not configure the runtime.
system -> Use the default minimal system C++ runtime library.
system_re -> Same as system but with rtti and exceptions.
gabi++_static -> Use the GAbi++ runtime as a static library.
gabi++_shared -> Use the GAbi++ runtime as a shared library.
stlport_static -> Use the STLport runtime as a static library.
stlport_shared -> Use the STLport runtime as a shared library.
gnustl_static -> (default) Use the GNU STL as a static library.
gnustl_shared -> Use the GNU STL as a shared library.
c++_shared -> Use the LLVM STL as a shared library.
c++_static -> Use the LLVM STL as a static library.
" )
endif()
elseif( BUILD_WITH_STANDALONE_TOOLCHAIN )
if( NOT "${ANDROID_STL}" MATCHES "^(none|gnustl_static|gnustl_shared)$")
message( FATAL_ERROR "ANDROID_STL is set to invalid value \"${ANDROID_STL}\".
The possible values are:
none -> Do not configure the runtime.
gnustl_static -> (default) Use the GNU STL as a static library.
gnustl_shared -> Use the GNU STL as a shared library.
" )
endif()
endif()
unset( ANDROID_RTTI )
unset( ANDROID_EXCEPTIONS )
unset( ANDROID_STL_INCLUDE_DIRS )
unset( __libstl )
unset( __libsupcxx )
if( NOT _CMAKE_IN_TRY_COMPILE AND ANDROID_NDK_RELEASE STREQUAL "r7b" AND ARMEABI_V7A AND NOT VFPV3 AND ANDROID_STL MATCHES "gnustl" )
message( WARNING "The GNU STL armeabi-v7a binaries from NDK r7b can crash non-NEON devices. The files provided with NDK r7b were not configured properly, resulting in crashes on Tegra2-based devices and others when trying to use certain floating-point functions (e.g., cosf, sinf, expf).
You are strongly recommended to switch to another NDK release.
" )
endif()
if( NOT _CMAKE_IN_TRY_COMPILE AND X86 AND ANDROID_STL MATCHES "gnustl" AND ANDROID_NDK_RELEASE STREQUAL "r6" )
message( WARNING "The x86 system header file from NDK r6 has incorrect definition for ptrdiff_t. You are recommended to upgrade to a newer NDK release or manually patch the header:
See https://android.googlesource.com/platform/development.git f907f4f9d4e56ccc8093df6fee54454b8bcab6c2
diff --git a/ndk/platforms/android-9/arch-x86/include/machine/_types.h b/ndk/platforms/android-9/arch-x86/include/machine/_types.h
index 5e28c64..65892a1 100644
--- a/ndk/platforms/android-9/arch-x86/include/machine/_types.h
+++ b/ndk/platforms/android-9/arch-x86/include/machine/_types.h
@@ -51,7 +51,11 @@ typedef long int ssize_t;
#endif
#ifndef _PTRDIFF_T
#define _PTRDIFF_T
-typedef long ptrdiff_t;
+# ifdef __ANDROID__
+ typedef int ptrdiff_t;
+# else
+ typedef long ptrdiff_t;
+# endif
#endif
" )
endif()
# setup paths and STL for standalone toolchain
if( BUILD_WITH_STANDALONE_TOOLCHAIN )
set( ANDROID_TOOLCHAIN_ROOT "${ANDROID_STANDALONE_TOOLCHAIN}" )
set( ANDROID_CLANG_TOOLCHAIN_ROOT "${ANDROID_STANDALONE_TOOLCHAIN}" )
set( ANDROID_SYSROOT "${ANDROID_STANDALONE_TOOLCHAIN}/sysroot" )
if( NOT ANDROID_STL STREQUAL "none" )
set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_STANDALONE_TOOLCHAIN}/include/c++/${ANDROID_COMPILER_VERSION}" )
if( NOT EXISTS "${ANDROID_STL_INCLUDE_DIRS}" )
# old location ( pre r8c )
set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/include/c++/${ANDROID_COMPILER_VERSION}" )
endif()
if( ARMEABI_V7A AND EXISTS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/${CMAKE_SYSTEM_PROCESSOR}/bits" )
list( APPEND ANDROID_STL_INCLUDE_DIRS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/${CMAKE_SYSTEM_PROCESSOR}" )
elseif( ARMEABI AND NOT ANDROID_FORCE_ARM_BUILD AND EXISTS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/thumb/bits" )
list( APPEND ANDROID_STL_INCLUDE_DIRS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/thumb" )
else()
list( APPEND ANDROID_STL_INCLUDE_DIRS "${ANDROID_STL_INCLUDE_DIRS}/${ANDROID_TOOLCHAIN_MACHINE_NAME}" )
endif()
# always search static GNU STL to get the location of libsupc++.a
if( ARMEABI_V7A AND NOT ANDROID_FORCE_ARM_BUILD AND EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/thumb/libstdc++.a" )
set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/thumb" )
elseif( ARMEABI_V7A AND EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/libstdc++.a" )
set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}" )
elseif( ARMEABI AND NOT ANDROID_FORCE_ARM_BUILD AND EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/thumb/libstdc++.a" )
set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/thumb" )
elseif( EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/libstdc++.a" )
set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib" )
endif()
if( __libstl )
set( __libsupcxx "${__libstl}/libsupc++.a" )
set( __libstl "${__libstl}/libstdc++.a" )
endif()
if( NOT EXISTS "${__libsupcxx}" )
message( FATAL_ERROR "The required libstdsupc++.a is missing in your standalone toolchain.
Usually it happens because of bug in make-standalone-toolchain.sh script from NDK r7, r7b and r7c.
You need to either upgrade to newer NDK or manually copy
$ANDROID_NDK/sources/cxx-stl/gnu-libstdc++/libs/${ANDROID_NDK_ABI_NAME}/libsupc++.a
to
${__libsupcxx}
" )
endif()
if( ANDROID_STL STREQUAL "gnustl_shared" )
if( ARMEABI_V7A AND EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/libgnustl_shared.so" )
set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/libgnustl_shared.so" )
elseif( ARMEABI AND NOT ANDROID_FORCE_ARM_BUILD AND EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/thumb/libgnustl_shared.so" )
set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/thumb/libgnustl_shared.so" )
elseif( EXISTS "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/libgnustl_shared.so" )
set( __libstl "${ANDROID_STANDALONE_TOOLCHAIN}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/libgnustl_shared.so" )
endif()
elseif( ANDROID_STL STREQUAL "c\\+\\+_shared" )
set( __libstl "${ANDROID_NDK}/sources/cxx-stl/llvm-libc++/libs/${TARGET_ARCH}/libc++_shared.so" )
endif()
endif()
endif()
# clang
if( "${ANDROID_TOOLCHAIN_NAME}" STREQUAL "standalone-clang" )
set( ANDROID_COMPILER_IS_CLANG 1 )
execute_process( COMMAND "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/clang${TOOL_OS_SUFFIX}" --version OUTPUT_VARIABLE ANDROID_CLANG_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE )
string( REGEX MATCH "[0-9]+[.][0-9]+" ANDROID_CLANG_VERSION "${ANDROID_CLANG_VERSION}")
elseif( "${ANDROID_TOOLCHAIN_NAME}" MATCHES "-clang3[.][0-9]?$" )
string( REGEX MATCH "3[.][0-9]$" ANDROID_CLANG_VERSION "${ANDROID_TOOLCHAIN_NAME}")
string( REGEX REPLACE "-clang${ANDROID_CLANG_VERSION}$" "-${ANDROID_COMPILER_VERSION}" ANDROID_GCC_TOOLCHAIN_NAME "${ANDROID_TOOLCHAIN_NAME}" )
if( NOT EXISTS "${ANDROID_NDK_TOOLCHAINS_PATH}/llvm-${ANDROID_CLANG_VERSION}${ANDROID_NDK_TOOLCHAINS_SUBPATH}/bin/clang${TOOL_OS_SUFFIX}" )
message( FATAL_ERROR "Could not find the Clang compiler driver" )
endif()
set( ANDROID_COMPILER_IS_CLANG 1 )
set( ANDROID_CLANG_TOOLCHAIN_ROOT "${ANDROID_NDK_TOOLCHAINS_PATH}/llvm-${ANDROID_CLANG_VERSION}${ANDROID_NDK_TOOLCHAINS_SUBPATH}" )
else()
set( ANDROID_GCC_TOOLCHAIN_NAME "${ANDROID_TOOLCHAIN_NAME}" )
unset( ANDROID_COMPILER_IS_CLANG CACHE )
endif()
string( REPLACE "." "" _clang_name "clang${ANDROID_CLANG_VERSION}" )
if( NOT EXISTS "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/${_clang_name}${TOOL_OS_SUFFIX}" )
set( _clang_name "clang" )
endif()
# setup paths and STL for NDK
if( BUILD_WITH_ANDROID_NDK )
set( ANDROID_TOOLCHAIN_ROOT "${ANDROID_NDK_TOOLCHAINS_PATH}/${ANDROID_GCC_TOOLCHAIN_NAME}${ANDROID_NDK_TOOLCHAINS_SUBPATH}" )
set( ANDROID_SYSROOT "${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}" )
if( ANDROID_STL STREQUAL "none" )
# do nothing
elseif( ANDROID_STL STREQUAL "system" )
set( ANDROID_RTTI OFF )
set( ANDROID_EXCEPTIONS OFF )
set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_NDK}/sources/cxx-stl/system/include" )
elseif( ANDROID_STL STREQUAL "system_re" )
set( ANDROID_RTTI ON )
set( ANDROID_EXCEPTIONS ON )
set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_NDK}/sources/cxx-stl/system/include" )
elseif( ANDROID_STL MATCHES "gabi" )
if( ANDROID_NDK_RELEASE_NUM LESS 7000 ) # before r7
message( FATAL_ERROR "gabi++ is not available in your NDK. You have to upgrade to NDK r7 or newer to use gabi++.")
endif()
set( ANDROID_RTTI ON )
set( ANDROID_EXCEPTIONS OFF )
set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_NDK}/sources/cxx-stl/gabi++/include" )
set( __libstl "${ANDROID_NDK}/sources/cxx-stl/gabi++/libs/${ANDROID_NDK_ABI_NAME}/libgabi++_static.a" )
elseif( ANDROID_STL MATCHES "stlport" )
if( NOT ANDROID_NDK_RELEASE_NUM LESS 8004 ) # before r8d
set( ANDROID_EXCEPTIONS ON )
else()
set( ANDROID_EXCEPTIONS OFF )
endif()
if( ANDROID_NDK_RELEASE_NUM LESS 7000 ) # before r7
set( ANDROID_RTTI OFF )
else()
set( ANDROID_RTTI ON )
endif()
set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_NDK}/sources/cxx-stl/stlport/stlport" )
set( __libstl "${ANDROID_NDK}/sources/cxx-stl/stlport/libs/${ANDROID_NDK_ABI_NAME}/libstlport_static.a" )
elseif( ANDROID_STL MATCHES "gnustl" )
set( ANDROID_EXCEPTIONS ON )
set( ANDROID_RTTI ON )
if( EXISTS "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++/${ANDROID_COMPILER_VERSION}" )
if( ARMEABI_V7A AND ANDROID_COMPILER_VERSION VERSION_EQUAL "4.7" AND ANDROID_NDK_RELEASE STREQUAL "r8d" )
# gnustl binary for 4.7 compiler is buggy :(
# TODO: look for right fix
set( __libstl "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++/4.6" )
else()
set( __libstl "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++/${ANDROID_COMPILER_VERSION}" )
endif()
else()
set( __libstl "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++" )
endif()
set( ANDROID_STL_INCLUDE_DIRS "${__libstl}/include" "${__libstl}/libs/${ANDROID_NDK_ABI_NAME}/include" "${__libstl}/include/backward" )
if( EXISTS "${__libstl}/libs/${ANDROID_NDK_ABI_NAME}/libgnustl_static.a" )
set( __libstl "${__libstl}/libs/${ANDROID_NDK_ABI_NAME}/libgnustl_static.a" )
else()
set( __libstl "${__libstl}/libs/${ANDROID_NDK_ABI_NAME}/libstdc++.a" )
endif()
elseif( ANDROID_STL MATCHES "c\\+\\+_shared" )
set( ANDROID_EXCEPTIONS ON )
set( ANDROID_RTTI ON )
set( ANDROID_CXX_ROOT "${ANDROID_NDK}/sources/cxx-stl/" )
set( ANDROID_LLVM_ROOT "${ANDROID_CXX_ROOT}/llvm-libc++" )
if( X86 )
set( ANDROID_ABI_INCLUDE_DIRS "${ANDROID_CXX_ROOT}/gabi++/include" )
else()
set( ANDROID_ABI_INCLUDE_DIRS "${ANDROID_CXX_ROOT}/llvm-libc++abi/libcxxabi/include" )
endif()
set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_LLVM_ROOT}/libcxx/include" "${ANDROID_ABI_INCLUDE_DIRS}" )
# android support sfiles
include_directories ( SYSTEM ${ANDROID_NDK}/sources/android/support/include )
if( EXISTS "${ANDROID_LLVM_ROOT}/libs/${ANDROID_NDK_ABI_NAME}/libc++_shared.so" )
set( __libstl "${ANDROID_LLVM_ROOT}/libs/${ANDROID_NDK_ABI_NAME}/libc++_shared.so" )
else()
message( "c++ shared library doesn't exist" )
endif()
elseif( ANDROID_STL MATCHES "c\\+\\+_static" )
set( ANDROID_EXCEPTIONS ON )
set( ANDROID_RTTI ON )
set( ANDROID_CXX_ROOT "${ANDROID_NDK}/sources/cxx-stl/" )
set( ANDROID_LLVM_ROOT "${ANDROID_CXX_ROOT}/llvm-libc++" )
if( X86 )
set( ANDROID_ABI_INCLUDE_DIRS "${ANDROID_CXX_ROOT}/gabi++/include" )
else()
set( ANDROID_ABI_INCLUDE_DIRS "${ANDROID_CXX_ROOT}/llvm-libc++abi/libcxxabi/include" )
endif()
set( ANDROID_STL_INCLUDE_DIRS "${ANDROID_LLVM_ROOT}/libcxx/include" "${ANDROID_ABI_INCLUDE_DIRS}" )
# android support sfiles
include_directories ( SYSTEM ${ANDROID_NDK}/sources/android/support/include )
if( NOT ANDROID_FORCE_ARM_BUILD )
if( EXISTS "${ANDROID_LLVM_ROOT}/libs/${ANDROID_NDK_ABI_NAME}/thumb/libc++_static.a" )
set( __libstl "${ANDROID_LLVM_ROOT}/libs/${ANDROID_NDK_ABI_NAME}/thumb/libc++_static.a" )
else()
message( "c++ static library doesn't exist" )
endif()
else()
if( EXISTS "${ANDROID_LLVM_ROOT}/libs/${ANDROID_NDK_ABI_NAME}/libc++_static.a" )
set( __libstl "${ANDROID_LLVM_ROOT}/libs/${ANDROID_NDK_ABI_NAME}/libc++_static.a" )
else()
message( "c++ static library doesn't exist" )
endif()
endif()
else()
message( FATAL_ERROR "Unknown runtime: ${ANDROID_STL}" )
endif()
# find libsupc++.a - rtti & exceptions
if( ANDROID_STL STREQUAL "system_re" OR ANDROID_STL MATCHES "gnustl" )
set( __libsupcxx "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++/${ANDROID_COMPILER_VERSION}/libs/${ANDROID_NDK_ABI_NAME}/libsupc++.a" ) # r8b or newer
if( NOT EXISTS "${__libsupcxx}" )
set( __libsupcxx "${ANDROID_NDK}/sources/cxx-stl/gnu-libstdc++/libs/${ANDROID_NDK_ABI_NAME}/libsupc++.a" ) # r7-r8
endif()
if( NOT EXISTS "${__libsupcxx}" ) # before r7
if( ARMEABI_V7A )
if( ANDROID_FORCE_ARM_BUILD )
set( __libsupcxx "${ANDROID_TOOLCHAIN_ROOT}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/libsupc++.a" )
else()
set( __libsupcxx "${ANDROID_TOOLCHAIN_ROOT}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/${CMAKE_SYSTEM_PROCESSOR}/thumb/libsupc++.a" )
endif()
elseif( ARMEABI AND NOT ANDROID_FORCE_ARM_BUILD )
set( __libsupcxx "${ANDROID_TOOLCHAIN_ROOT}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/thumb/libsupc++.a" )
else()
set( __libsupcxx "${ANDROID_TOOLCHAIN_ROOT}/${ANDROID_TOOLCHAIN_MACHINE_NAME}/lib/libsupc++.a" )
endif()
endif()
if( NOT EXISTS "${__libsupcxx}")
message( ERROR "Could not find libsupc++.a for a chosen platform. Either your NDK is not supported or is broken.")
endif()
endif()
endif()
# case of shared STL linkage
if( ANDROID_STL MATCHES "shared" AND DEFINED __libstl )
string( REPLACE "_static.a" "_shared.so" __libstl "${__libstl}" )
# TODO: check if .so file exists before the renaming
endif()
# ccache support
__INIT_VARIABLE( _ndk_ccache NDK_CCACHE ENV_NDK_CCACHE )
if( _ndk_ccache )
if( DEFINED NDK_CCACHE AND NOT EXISTS NDK_CCACHE )
unset( NDK_CCACHE CACHE )
endif()
find_program( NDK_CCACHE "${_ndk_ccache}" DOC "The path to ccache binary")
else()
unset( NDK_CCACHE CACHE )
endif()
unset( _ndk_ccache )
# setup the cross-compiler
if( NOT CMAKE_C_COMPILER )
if( NDK_CCACHE AND NOT ANDROID_SYSROOT MATCHES "[ ;\"]" )
set( CMAKE_C_COMPILER "${NDK_CCACHE}" CACHE PATH "ccache as C compiler" )
set( CMAKE_CXX_COMPILER "${NDK_CCACHE}" CACHE PATH "ccache as C++ compiler" )
if( ANDROID_COMPILER_IS_CLANG )
set( CMAKE_C_COMPILER_ARG1 "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/${_clang_name}${TOOL_OS_SUFFIX}" CACHE PATH "C compiler")
set( CMAKE_CXX_COMPILER_ARG1 "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/${_clang_name}++${TOOL_OS_SUFFIX}" CACHE PATH "C++ compiler")
else()
set( CMAKE_C_COMPILER_ARG1 "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-gcc${TOOL_OS_SUFFIX}" CACHE PATH "C compiler")
set( CMAKE_CXX_COMPILER_ARG1 "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-g++${TOOL_OS_SUFFIX}" CACHE PATH "C++ compiler")
endif()
else()
if( ANDROID_COMPILER_IS_CLANG )
set( CMAKE_C_COMPILER "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/${_clang_name}${TOOL_OS_SUFFIX}" CACHE PATH "C compiler")
set( CMAKE_CXX_COMPILER "${ANDROID_CLANG_TOOLCHAIN_ROOT}/bin/${_clang_name}++${TOOL_OS_SUFFIX}" CACHE PATH "C++ compiler")
else()
set( CMAKE_C_COMPILER "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-gcc${TOOL_OS_SUFFIX}" CACHE PATH "C compiler" )
set( CMAKE_CXX_COMPILER "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-g++${TOOL_OS_SUFFIX}" CACHE PATH "C++ compiler" )
endif()
endif()
set( CMAKE_ASM_COMPILER "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-gcc${TOOL_OS_SUFFIX}" CACHE PATH "assembler" )
set( CMAKE_STRIP "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-strip${TOOL_OS_SUFFIX}" CACHE PATH "strip" )
set( CMAKE_AR "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-ar${TOOL_OS_SUFFIX}" CACHE PATH "archive" )
if( EXISTS "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-gcc-ar${TOOL_OS_SUFFIX}" )
# Use gcc-ar if we have it for better LTO support.
set( CMAKE_AR "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-gcc-ar${TOOL_OS_SUFFIX}" CACHE PATH "archive" )
else()
set( CMAKE_AR "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-ar${TOOL_OS_SUFFIX}" CACHE PATH "archive" )
endif()
set( CMAKE_LINKER "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-ld${TOOL_OS_SUFFIX}" CACHE PATH "linker" )
set( CMAKE_NM "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-nm${TOOL_OS_SUFFIX}" CACHE PATH "nm" )
set( CMAKE_OBJCOPY "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-objcopy${TOOL_OS_SUFFIX}" CACHE PATH "objcopy" )
set( CMAKE_OBJDUMP "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-objdump${TOOL_OS_SUFFIX}" CACHE PATH "objdump" )
set( CMAKE_RANLIB "${ANDROID_TOOLCHAIN_ROOT}/bin/${ANDROID_TOOLCHAIN_MACHINE_NAME}-ranlib${TOOL_OS_SUFFIX}" CACHE PATH "ranlib" )
endif()
set( _CMAKE_TOOLCHAIN_PREFIX "${ANDROID_TOOLCHAIN_MACHINE_NAME}-" )
if( CMAKE_VERSION VERSION_LESS 2.8.5 )
set( CMAKE_ASM_COMPILER_ARG1 "-c" )
endif()
if( APPLE )
find_program( CMAKE_INSTALL_NAME_TOOL NAMES install_name_tool )
if( NOT CMAKE_INSTALL_NAME_TOOL )
message( FATAL_ERROR "Could not find install_name_tool, please check your installation." )
endif()
mark_as_advanced( CMAKE_INSTALL_NAME_TOOL )
endif()
# Force set compilers because standard identification works badly for us
include( CMakeForceCompiler )
CMAKE_FORCE_C_COMPILER( "${CMAKE_C_COMPILER}" GNU )
if( ANDROID_COMPILER_IS_CLANG )
set( CMAKE_C_COMPILER_ID Clang )
endif()
set( CMAKE_C_PLATFORM_ID Linux )
if( X86_64 OR MIPS64 OR ARM64_V8A )
set( CMAKE_C_SIZEOF_DATA_PTR 8 )
else()
set( CMAKE_C_SIZEOF_DATA_PTR 4 )
endif()
set( CMAKE_C_HAS_ISYSROOT 1 )
set( CMAKE_C_COMPILER_ABI ELF )
CMAKE_FORCE_CXX_COMPILER( "${CMAKE_CXX_COMPILER}" GNU )
if( ANDROID_COMPILER_IS_CLANG )
set( CMAKE_CXX_COMPILER_ID Clang)
endif()
set( CMAKE_CXX_PLATFORM_ID Linux )
set( CMAKE_CXX_SIZEOF_DATA_PTR ${CMAKE_C_SIZEOF_DATA_PTR} )
set( CMAKE_CXX_HAS_ISYSROOT 1 )
set( CMAKE_CXX_COMPILER_ABI ELF )
set( CMAKE_CXX_SOURCE_FILE_EXTENSIONS cc cp cxx cpp CPP c++ C )
# force ASM compiler (required for CMake < 2.8.5)
set( CMAKE_ASM_COMPILER_ID_RUN TRUE )
set( CMAKE_ASM_COMPILER_ID GNU )
set( CMAKE_ASM_COMPILER_WORKS TRUE )
set( CMAKE_ASM_COMPILER_FORCED TRUE )
set( CMAKE_COMPILER_IS_GNUASM 1)
set( CMAKE_ASM_SOURCE_FILE_EXTENSIONS s S asm )
foreach( lang C CXX ASM )
if( ANDROID_COMPILER_IS_CLANG )
set( CMAKE_${lang}_COMPILER_VERSION ${ANDROID_CLANG_VERSION} )
else()
set( CMAKE_${lang}_COMPILER_VERSION ${ANDROID_COMPILER_VERSION} )
endif()
endforeach()
# flags and definitions
remove_definitions( -DANDROID )
add_definitions( -DANDROID )
if( ANDROID_SYSROOT MATCHES "[ ;\"]" )
if( CMAKE_HOST_WIN32 )
# try to convert path to 8.3 form
file( WRITE "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/cvt83.cmd" "@echo %~s1" )
execute_process( COMMAND "$ENV{ComSpec}" /c "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/cvt83.cmd" "${ANDROID_SYSROOT}"
OUTPUT_VARIABLE __path OUTPUT_STRIP_TRAILING_WHITESPACE
RESULT_VARIABLE __result ERROR_QUIET )
if( __result EQUAL 0 )
file( TO_CMAKE_PATH "${__path}" ANDROID_SYSROOT )
set( ANDROID_CXX_FLAGS "--sysroot=${ANDROID_SYSROOT}" )
else()
set( ANDROID_CXX_FLAGS "--sysroot=\"${ANDROID_SYSROOT}\"" )
endif()
else()
set( ANDROID_CXX_FLAGS "'--sysroot=${ANDROID_SYSROOT}'" )
endif()
if( NOT _CMAKE_IN_TRY_COMPILE )
# quotes can break try_compile and compiler identification
message(WARNING "Path to your Android NDK (or toolchain) has non-alphanumeric symbols.\nThe build might be broken.\n")
endif()
else()
set( ANDROID_CXX_FLAGS "--sysroot=${ANDROID_SYSROOT}" )
endif()
set( CMAKE_REQUIRED_FLAGS "${CMAKE_REQUIRED_FLAGS} ${ANDROID_CXX_FLAGS}" )
# NDK flags
if (ARM64_V8A )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -funwind-tables" )
set( ANDROID_CXX_FLAGS_RELEASE "-fomit-frame-pointer -fstrict-aliasing" )
set( ANDROID_CXX_FLAGS_DEBUG "-fno-omit-frame-pointer -fno-strict-aliasing" )
if( NOT ANDROID_COMPILER_IS_CLANG )
set( ANDROID_CXX_FLAGS_RELEASE "${ANDROID_CXX_FLAGS_RELEASE} -funswitch-loops -finline-limit=300" )
endif()
elseif( ARMEABI OR ARMEABI_V7A)
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -funwind-tables" )
if( NOT ANDROID_FORCE_ARM_BUILD AND NOT ARMEABI_V6 )
set( ANDROID_CXX_FLAGS_RELEASE "-mthumb -fomit-frame-pointer -fno-strict-aliasing" )
set( ANDROID_CXX_FLAGS_DEBUG "-marm -fno-omit-frame-pointer -fno-strict-aliasing" )
if( NOT ANDROID_COMPILER_IS_CLANG )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -finline-limit=64" )
endif()
else()
# always compile ARMEABI_V6 in arm mode; otherwise there is no difference from ARMEABI
set( ANDROID_CXX_FLAGS_RELEASE "-marm -fomit-frame-pointer -fstrict-aliasing" )
set( ANDROID_CXX_FLAGS_DEBUG "-marm -fno-omit-frame-pointer -fno-strict-aliasing" )
if( NOT ANDROID_COMPILER_IS_CLANG )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -funswitch-loops -finline-limit=300" )
endif()
endif()
elseif( X86 OR X86_64 )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -funwind-tables" )
if( NOT ANDROID_COMPILER_IS_CLANG )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -funswitch-loops -finline-limit=300" )
endif()
set( ANDROID_CXX_FLAGS_RELEASE "-fomit-frame-pointer -fstrict-aliasing" )
set( ANDROID_CXX_FLAGS_DEBUG "-fno-omit-frame-pointer -fno-strict-aliasing" )
elseif( MIPS OR MIPS64 )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -fno-strict-aliasing -finline-functions -funwind-tables -fmessage-length=0" )
set( ANDROID_CXX_FLAGS_RELEASE "-fomit-frame-pointer" )
set( ANDROID_CXX_FLAGS_DEBUG "-fno-omit-frame-pointer" )
if( NOT ANDROID_COMPILER_IS_CLANG )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -fno-inline-functions-called-once -fgcse-after-reload -frerun-cse-after-loop -frename-registers" )
set( ANDROID_CXX_FLAGS_RELEASE "${ANDROID_CXX_FLAGS_RELEASE} -funswitch-loops -finline-limit=300" )
endif()
elseif()
set( ANDROID_CXX_FLAGS_RELEASE "" )
set( ANDROID_CXX_FLAGS_DEBUG "" )
endif()
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -fsigned-char" ) # good/necessary when porting desktop libraries
if( NOT X86 AND NOT ANDROID_COMPILER_IS_CLANG )
set( ANDROID_CXX_FLAGS "-Wno-psabi ${ANDROID_CXX_FLAGS}" )
endif()
if( NOT ANDROID_COMPILER_VERSION VERSION_LESS "4.6" )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -no-canonical-prefixes" ) # see https://android-review.googlesource.com/#/c/47564/
endif()
# ABI-specific flags
if( ARMEABI_V7A )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -march=armv7-a -mfloat-abi=softfp" )
if( NEON )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -mfpu=neon" )
elseif( VFPV3 )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -mfpu=vfpv3" )
else()
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -mfpu=vfpv3-d16" )
endif()
elseif( ARMEABI_V6 )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -march=armv6 -mfloat-abi=softfp -mfpu=vfp" ) # vfp == vfpv2
elseif( ARMEABI )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -march=armv5te -mtune=xscale -msoft-float" )
endif()
if( ANDROID_STL MATCHES "gnustl" AND (EXISTS "${__libstl}" OR EXISTS "${__libsupcxx}") )
set( CMAKE_CXX_CREATE_SHARED_LIBRARY "<CMAKE_C_COMPILER> <CMAKE_SHARED_LIBRARY_CXX_FLAGS> <LANGUAGE_COMPILE_FLAGS> <LINK_FLAGS> <CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS> <CMAKE_SHARED_LIBRARY_SONAME_CXX_FLAG><TARGET_SONAME> -o <TARGET> <OBJECTS> <LINK_LIBRARIES>" )
set( CMAKE_CXX_CREATE_SHARED_MODULE "<CMAKE_C_COMPILER> <CMAKE_SHARED_LIBRARY_CXX_FLAGS> <LANGUAGE_COMPILE_FLAGS> <LINK_FLAGS> <CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS> <CMAKE_SHARED_LIBRARY_SONAME_CXX_FLAG><TARGET_SONAME> -o <TARGET> <OBJECTS> <LINK_LIBRARIES>" )
set( CMAKE_CXX_LINK_EXECUTABLE "<CMAKE_C_COMPILER> <FLAGS> <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> <LINK_LIBRARIES>" )
else()
set( CMAKE_CXX_CREATE_SHARED_LIBRARY "<CMAKE_CXX_COMPILER> <CMAKE_SHARED_LIBRARY_CXX_FLAGS> <LANGUAGE_COMPILE_FLAGS> <LINK_FLAGS> <CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS> <CMAKE_SHARED_LIBRARY_SONAME_CXX_FLAG><TARGET_SONAME> -o <TARGET> <OBJECTS> <LINK_LIBRARIES>" )
set( CMAKE_CXX_CREATE_SHARED_MODULE "<CMAKE_CXX_COMPILER> <CMAKE_SHARED_LIBRARY_CXX_FLAGS> <LANGUAGE_COMPILE_FLAGS> <LINK_FLAGS> <CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS> <CMAKE_SHARED_LIBRARY_SONAME_CXX_FLAG><TARGET_SONAME> -o <TARGET> <OBJECTS> <LINK_LIBRARIES>" )
set( CMAKE_CXX_LINK_EXECUTABLE "<CMAKE_CXX_COMPILER> <FLAGS> <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> <LINK_LIBRARIES>" )
endif()
# STL
if( EXISTS "${__libstl}" OR EXISTS "${__libsupcxx}" )
if( EXISTS "${__libstl}" )
set( CMAKE_CXX_CREATE_SHARED_LIBRARY "${CMAKE_CXX_CREATE_SHARED_LIBRARY} \"${__libstl}\"" )
set( CMAKE_CXX_CREATE_SHARED_MODULE "${CMAKE_CXX_CREATE_SHARED_MODULE} \"${__libstl}\"" )
set( CMAKE_CXX_LINK_EXECUTABLE "${CMAKE_CXX_LINK_EXECUTABLE} \"${__libstl}\"" )
endif()
if( EXISTS "${__libsupcxx}" )
set( CMAKE_CXX_CREATE_SHARED_LIBRARY "${CMAKE_CXX_CREATE_SHARED_LIBRARY} \"${__libsupcxx}\"" )
set( CMAKE_CXX_CREATE_SHARED_MODULE "${CMAKE_CXX_CREATE_SHARED_MODULE} \"${__libsupcxx}\"" )
set( CMAKE_CXX_LINK_EXECUTABLE "${CMAKE_CXX_LINK_EXECUTABLE} \"${__libsupcxx}\"" )
# C objects:
set( CMAKE_C_CREATE_SHARED_LIBRARY "<CMAKE_C_COMPILER> <CMAKE_SHARED_LIBRARY_C_FLAGS> <LANGUAGE_COMPILE_FLAGS> <LINK_FLAGS> <CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS> <CMAKE_SHARED_LIBRARY_SONAME_C_FLAG><TARGET_SONAME> -o <TARGET> <OBJECTS> <LINK_LIBRARIES>" )
set( CMAKE_C_CREATE_SHARED_MODULE "<CMAKE_C_COMPILER> <CMAKE_SHARED_LIBRARY_C_FLAGS> <LANGUAGE_COMPILE_FLAGS> <LINK_FLAGS> <CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS> <CMAKE_SHARED_LIBRARY_SONAME_C_FLAG><TARGET_SONAME> -o <TARGET> <OBJECTS> <LINK_LIBRARIES>" )
set( CMAKE_C_LINK_EXECUTABLE "<CMAKE_C_COMPILER> <FLAGS> <CMAKE_C_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> <LINK_LIBRARIES>" )
set( CMAKE_C_CREATE_SHARED_LIBRARY "${CMAKE_C_CREATE_SHARED_LIBRARY} \"${__libsupcxx}\"" )
set( CMAKE_C_CREATE_SHARED_MODULE "${CMAKE_C_CREATE_SHARED_MODULE} \"${__libsupcxx}\"" )
set( CMAKE_C_LINK_EXECUTABLE "${CMAKE_C_LINK_EXECUTABLE} \"${__libsupcxx}\"" )
endif()
if( ANDROID_STL MATCHES "gnustl" )
if( NOT EXISTS "${ANDROID_LIBM_PATH}" )
set( ANDROID_LIBM_PATH -lm )
endif()
set( CMAKE_CXX_CREATE_SHARED_LIBRARY "${CMAKE_CXX_CREATE_SHARED_LIBRARY} ${ANDROID_LIBM_PATH}" )
set( CMAKE_CXX_CREATE_SHARED_MODULE "${CMAKE_CXX_CREATE_SHARED_MODULE} ${ANDROID_LIBM_PATH}" )
set( CMAKE_CXX_LINK_EXECUTABLE "${CMAKE_CXX_LINK_EXECUTABLE} ${ANDROID_LIBM_PATH}" )
endif()
endif()
# variables controlling optional build flags
if( ANDROID_NDK_RELEASE_NUM LESS 7000 ) # before r7
# libGLESv2.so in NDK's prior to r7 refers to missing external symbols.
# So this flag option is required for all projects using OpenGL from native.
__INIT_VARIABLE( ANDROID_SO_UNDEFINED VALUES ON )
else()
__INIT_VARIABLE( ANDROID_SO_UNDEFINED VALUES OFF )
endif()
__INIT_VARIABLE( ANDROID_NO_UNDEFINED VALUES ON )
__INIT_VARIABLE( ANDROID_FUNCTION_LEVEL_LINKING VALUES ON )
__INIT_VARIABLE( ANDROID_GOLD_LINKER VALUES ON )
__INIT_VARIABLE( ANDROID_NOEXECSTACK VALUES ON )
__INIT_VARIABLE( ANDROID_RELRO VALUES ON )
set( ANDROID_NO_UNDEFINED ${ANDROID_NO_UNDEFINED} CACHE BOOL "Show all undefined symbols as linker errors" )
set( ANDROID_SO_UNDEFINED ${ANDROID_SO_UNDEFINED} CACHE BOOL "Allows or disallows undefined symbols in shared libraries" )
set( ANDROID_FUNCTION_LEVEL_LINKING ${ANDROID_FUNCTION_LEVEL_LINKING} CACHE BOOL "Put each function in separate section and enable garbage collection of unused input sections at link time" )
set( ANDROID_GOLD_LINKER ${ANDROID_GOLD_LINKER} CACHE BOOL "Enables gold linker" )
set( ANDROID_NOEXECSTACK ${ANDROID_NOEXECSTACK} CACHE BOOL "Allows or disallows undefined symbols in shared libraries" )
set( ANDROID_RELRO ${ANDROID_RELRO} CACHE BOOL "Enables RELRO - a memory corruption mitigation technique" )
mark_as_advanced( ANDROID_NO_UNDEFINED ANDROID_SO_UNDEFINED ANDROID_FUNCTION_LEVEL_LINKING ANDROID_GOLD_LINKER ANDROID_NOEXECSTACK ANDROID_RELRO )
# linker flags
set( ANDROID_LINKER_FLAGS "" )
if( ARMEABI_V7A )
# this is *required* to use the following linker flags that routes around
# a CPU bug in some Cortex-A8 implementations:
set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,--fix-cortex-a8" )
endif()
if( ANDROID_NO_UNDEFINED )
if( MIPS )
# there is some sysroot-related problem in mips linker...
if( NOT ANDROID_SYSROOT MATCHES "[ ;\"]" )
set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,--no-undefined -Wl,-rpath-link,${ANDROID_SYSROOT}/usr/lib" )
endif()
else()
set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,--no-undefined" )
endif()
endif()
if( ANDROID_SO_UNDEFINED )
set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,-allow-shlib-undefined" )
endif()
if( ANDROID_FUNCTION_LEVEL_LINKING )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -fdata-sections -ffunction-sections" )
set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,--gc-sections" )
endif()
if( ANDROID_COMPILER_VERSION VERSION_EQUAL "4.6" )
if( ANDROID_GOLD_LINKER AND (CMAKE_HOST_UNIX OR ANDROID_NDK_RELEASE_NUM GREATER 8002) AND (ARMEABI OR ARMEABI_V7A OR X86) )
set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -fuse-ld=gold" )
elseif( ANDROID_NDK_RELEASE_NUM GREATER 8002 ) # after r8b
set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -fuse-ld=bfd" )
elseif( ANDROID_NDK_RELEASE STREQUAL "r8b" AND ARMEABI AND NOT _CMAKE_IN_TRY_COMPILE )
message( WARNING "The default bfd linker from arm GCC 4.6 toolchain can fail with 'unresolvable R_ARM_THM_CALL relocation' error message. See https://code.google.com/p/android/issues/detail?id=35342
On Linux and OS X host platform you can workaround this problem using gold linker (default).
Rerun cmake with -DANDROID_GOLD_LINKER=ON option in case of problems.
" )
endif()
endif() # version 4.6
if( ANDROID_NOEXECSTACK )
if( ANDROID_COMPILER_IS_CLANG )
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -Xclang -mnoexecstack" )
else()
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS} -Wa,--noexecstack" )
endif()
set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,-z,noexecstack" )
endif()
if( ANDROID_RELRO )
set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} -Wl,-z,relro -Wl,-z,now" )
endif()
if( ANDROID_COMPILER_IS_CLANG )
set( ANDROID_CXX_FLAGS "-target ${ANDROID_LLVM_TRIPLE} -Qunused-arguments ${ANDROID_CXX_FLAGS}" )
if( BUILD_WITH_ANDROID_NDK )
set( ANDROID_CXX_FLAGS "-gcc-toolchain ${ANDROID_TOOLCHAIN_ROOT} ${ANDROID_CXX_FLAGS}" )
endif()
endif()
# cache flags
set( CMAKE_CXX_FLAGS "" CACHE STRING "c++ flags" )
set( CMAKE_C_FLAGS "" CACHE STRING "c flags" )
set( CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG" CACHE STRING "c++ Release flags" )
set( CMAKE_C_FLAGS_RELEASE "-O3 -DNDEBUG" CACHE STRING "c Release flags" )
set( CMAKE_CXX_FLAGS_DEBUG "-O0 -g -DDEBUG -D_DEBUG" CACHE STRING "c++ Debug flags" )
set( CMAKE_C_FLAGS_DEBUG "-O0 -g -DDEBUG -D_DEBUG" CACHE STRING "c Debug flags" )
set( CMAKE_SHARED_LINKER_FLAGS "" CACHE STRING "shared linker flags" )
set( CMAKE_MODULE_LINKER_FLAGS "" CACHE STRING "module linker flags" )
set( CMAKE_EXE_LINKER_FLAGS "-Wl,-z,nocopyreloc" CACHE STRING "executable linker flags" )
# put flags to cache (for debug purpose only)
set( ANDROID_CXX_FLAGS "${ANDROID_CXX_FLAGS}" CACHE INTERNAL "Android specific c/c++ flags" )
set( ANDROID_CXX_FLAGS_RELEASE "${ANDROID_CXX_FLAGS_RELEASE}" CACHE INTERNAL "Android specific c/c++ Release flags" )
set( ANDROID_CXX_FLAGS_DEBUG "${ANDROID_CXX_FLAGS_DEBUG}" CACHE INTERNAL "Android specific c/c++ Debug flags" )
set( ANDROID_LINKER_FLAGS "${ANDROID_LINKER_FLAGS}" CACHE INTERNAL "Android specific c/c++ linker flags" )
# finish flags
set( CMAKE_CXX_FLAGS "${ANDROID_CXX_FLAGS} ${CMAKE_CXX_FLAGS}" )
set( CMAKE_C_FLAGS "${ANDROID_CXX_FLAGS} ${CMAKE_C_FLAGS}" )
set( CMAKE_CXX_FLAGS_RELEASE "${ANDROID_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_RELEASE}" )
set( CMAKE_C_FLAGS_RELEASE "${ANDROID_CXX_FLAGS_RELEASE} ${CMAKE_C_FLAGS_RELEASE}" )
set( CMAKE_CXX_FLAGS_DEBUG "${ANDROID_CXX_FLAGS_DEBUG} ${CMAKE_CXX_FLAGS_DEBUG}" )
set( CMAKE_C_FLAGS_DEBUG "${ANDROID_CXX_FLAGS_DEBUG} ${CMAKE_C_FLAGS_DEBUG}" )
set( CMAKE_SHARED_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}" )
set( CMAKE_MODULE_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}" )
set( CMAKE_EXE_LINKER_FLAGS "${ANDROID_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}" )
if( MIPS AND BUILD_WITH_ANDROID_NDK AND ANDROID_NDK_RELEASE STREQUAL "r8" )
set( CMAKE_SHARED_LINKER_FLAGS "-Wl,-T,${ANDROID_NDK_TOOLCHAINS_PATH}/${ANDROID_GCC_TOOLCHAIN_NAME}/mipself.xsc ${CMAKE_SHARED_LINKER_FLAGS}" )
set( CMAKE_MODULE_LINKER_FLAGS "-Wl,-T,${ANDROID_NDK_TOOLCHAINS_PATH}/${ANDROID_GCC_TOOLCHAIN_NAME}/mipself.xsc ${CMAKE_MODULE_LINKER_FLAGS}" )
set( CMAKE_EXE_LINKER_FLAGS "-Wl,-T,${ANDROID_NDK_TOOLCHAINS_PATH}/${ANDROID_GCC_TOOLCHAIN_NAME}/mipself.x ${CMAKE_EXE_LINKER_FLAGS}" )
endif()
# pie/pic
if( NOT (ANDROID_NATIVE_API_LEVEL LESS 16) AND (NOT DEFINED ANDROID_APP_PIE OR ANDROID_APP_PIE) AND (CMAKE_VERSION VERSION_GREATER 2.8.8) )
set( CMAKE_POSITION_INDEPENDENT_CODE TRUE )
set( CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fPIE -pie")
else()
set( CMAKE_POSITION_INDEPENDENT_CODE FALSE )
set( CMAKE_CXX_FLAGS "-fpic ${CMAKE_CXX_FLAGS}" )
set( CMAKE_C_FLAGS "-fpic ${CMAKE_C_FLAGS}" )
endif()
# configure rtti
if( DEFINED ANDROID_RTTI AND ANDROID_STL_FORCE_FEATURES )
if( ANDROID_RTTI )
set( CMAKE_CXX_FLAGS "-frtti ${CMAKE_CXX_FLAGS}" )
else()
set( CMAKE_CXX_FLAGS "-fno-rtti ${CMAKE_CXX_FLAGS}" )
endif()
endif()
# configure exceptios
if( DEFINED ANDROID_EXCEPTIONS AND ANDROID_STL_FORCE_FEATURES )
if( ANDROID_EXCEPTIONS )
set( CMAKE_CXX_FLAGS "-fexceptions ${CMAKE_CXX_FLAGS}" )
set( CMAKE_C_FLAGS "-fexceptions ${CMAKE_C_FLAGS}" )
else()
set( CMAKE_CXX_FLAGS "-fno-exceptions ${CMAKE_CXX_FLAGS}" )
set( CMAKE_C_FLAGS "-fno-exceptions ${CMAKE_C_FLAGS}" )
endif()
endif()
# global includes and link directories
include_directories( SYSTEM "${ANDROID_SYSROOT}/usr/include" ${ANDROID_STL_INCLUDE_DIRS} )
get_filename_component(__android_install_path "${CMAKE_INSTALL_PREFIX}/libs/${ANDROID_NDK_ABI_NAME}" ABSOLUTE) # avoid CMP0015 policy warning
link_directories( "${__android_install_path}" )
# detect if need link crtbegin_so.o explicitly
if( NOT DEFINED ANDROID_EXPLICIT_CRT_LINK )
set( __cmd "${CMAKE_CXX_CREATE_SHARED_LIBRARY}" )
string( REPLACE "<CMAKE_CXX_COMPILER>" "${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1}" __cmd "${__cmd}" )
string( REPLACE "<CMAKE_C_COMPILER>" "${CMAKE_C_COMPILER} ${CMAKE_C_COMPILER_ARG1}" __cmd "${__cmd}" )
string( REPLACE "<CMAKE_SHARED_LIBRARY_CXX_FLAGS>" "${CMAKE_CXX_FLAGS}" __cmd "${__cmd}" )
string( REPLACE "<LANGUAGE_COMPILE_FLAGS>" "" __cmd "${__cmd}" )
string( REPLACE "<LINK_FLAGS>" "${CMAKE_SHARED_LINKER_FLAGS}" __cmd "${__cmd}" )
string( REPLACE "<CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS>" "-shared" __cmd "${__cmd}" )
string( REPLACE "<CMAKE_SHARED_LIBRARY_SONAME_CXX_FLAG>" "" __cmd "${__cmd}" )
string( REPLACE "<TARGET_SONAME>" "" __cmd "${__cmd}" )
string( REPLACE "<TARGET>" "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/toolchain_crtlink_test.so" __cmd "${__cmd}" )
string( REPLACE "<OBJECTS>" "\"${ANDROID_SYSROOT}/usr/lib/crtbegin_so.o\"" __cmd "${__cmd}" )
string( REPLACE "<LINK_LIBRARIES>" "" __cmd "${__cmd}" )
separate_arguments( __cmd )
foreach( __var ANDROID_NDK ANDROID_NDK_TOOLCHAINS_PATH ANDROID_STANDALONE_TOOLCHAIN )
if( ${__var} )
set( __tmp "${${__var}}" )
separate_arguments( __tmp )
string( REPLACE "${__tmp}" "${${__var}}" __cmd "${__cmd}")
endif()
endforeach()
string( REPLACE "'" "" __cmd "${__cmd}" )
string( REPLACE "\"" "" __cmd "${__cmd}" )
execute_process( COMMAND ${__cmd} RESULT_VARIABLE __cmd_result OUTPUT_QUIET ERROR_QUIET )
if( __cmd_result EQUAL 0 )
set( ANDROID_EXPLICIT_CRT_LINK ON )
else()
set( ANDROID_EXPLICIT_CRT_LINK OFF )
endif()
endif()
if( ANDROID_EXPLICIT_CRT_LINK )
set( CMAKE_CXX_CREATE_SHARED_LIBRARY "${CMAKE_CXX_CREATE_SHARED_LIBRARY} \"${ANDROID_SYSROOT}/usr/lib/crtbegin_so.o\"" )
set( CMAKE_CXX_CREATE_SHARED_MODULE "${CMAKE_CXX_CREATE_SHARED_MODULE} \"${ANDROID_SYSROOT}/usr/lib/crtbegin_so.o\"" )
endif()
# setup output directories
set( CMAKE_INSTALL_PREFIX "${ANDROID_TOOLCHAIN_ROOT}/user" CACHE STRING "path for installing" )
if( DEFINED LIBRARY_OUTPUT_PATH_ROOT
OR EXISTS "${CMAKE_SOURCE_DIR}/android/AndroidManifest.xml"
OR (EXISTS "${CMAKE_SOURCE_DIR}/../AndroidManifest.xml" AND EXISTS "${CMAKE_SOURCE_DIR}/../jni/") )
set( LIBRARY_OUTPUT_PATH_ROOT ${CMAKE_SOURCE_DIR}/android CACHE PATH "Root for binaries output, set this to change where Android libs are installed to" )
if( NOT _CMAKE_IN_TRY_COMPILE )
if( EXISTS "${CMAKE_SOURCE_DIR}/jni/CMakeLists.txt" )
set( EXECUTABLE_OUTPUT_PATH "${LIBRARY_OUTPUT_PATH_ROOT}/bin/${ANDROID_NDK_ABI_NAME}" CACHE PATH "Output directory for applications" )
else()
set( EXECUTABLE_OUTPUT_PATH "${LIBRARY_OUTPUT_PATH_ROOT}/bin" CACHE PATH "Output directory for applications" )
endif()
set( LIBRARY_OUTPUT_PATH "${LIBRARY_OUTPUT_PATH_ROOT}/libs/${ANDROID_NDK_ABI_NAME}" CACHE PATH "Output directory for Android libs" )
endif()
endif()
# copy shaed stl library to build directory
if( NOT _CMAKE_IN_TRY_COMPILE AND __libstl MATCHES "[.]so$" AND DEFINED LIBRARY_OUTPUT_PATH )
get_filename_component( __libstlname "${__libstl}" NAME )
execute_process( COMMAND "${CMAKE_COMMAND}" -E copy_if_different "${__libstl}" "${LIBRARY_OUTPUT_PATH}/${__libstlname}" RESULT_VARIABLE __fileCopyProcess )
if( NOT __fileCopyProcess EQUAL 0 OR NOT EXISTS "${LIBRARY_OUTPUT_PATH}/${__libstlname}")
message( SEND_ERROR "Failed copying of ${__libstl} to the ${LIBRARY_OUTPUT_PATH}/${__libstlname}" )
endif()
unset( __fileCopyProcess )
unset( __libstlname )
endif()
# set these global flags for cmake client scripts to change behavior
set( ANDROID True )
set( BUILD_ANDROID True )
# where is the target environment
# http://www.vtk.org/Wiki/CMake_Cross_Compiling
# we need to use find_path in our custorm modules, so disable it.
# set( CMAKE_FIND_ROOT_PATH "${ANDROID_TOOLCHAIN_ROOT}/bin" "${ANDROID_TOOLCHAIN_ROOT}/${ANDROID_TOOLCHAIN_MACHINE_NAME}" "${ANDROID_SYSROOT}" "${CMAKE_INSTALL_PREFIX}" "${CMAKE_INSTALL_PREFIX}/share" )
# only search for libraries and includes in the ndk toolchain
set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY )
set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY )
set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY )
# macro to find packages on the host OS
macro( find_host_package )
set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER )
set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER )
set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER )
if( CMAKE_HOST_WIN32 )
SET( WIN32 1 )
SET( UNIX )
elseif( CMAKE_HOST_APPLE )
SET( APPLE 1 )
SET( UNIX )
endif()
find_package( ${ARGN} )
SET( WIN32 )
SET( APPLE )
SET( UNIX 1 )
set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY )
set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY )
set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY )
endmacro()
# macro to find programs on the host OS
macro( find_host_program )
set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER )
set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER )
set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER )
if( CMAKE_HOST_WIN32 )
SET( WIN32 1 )
SET( UNIX )
elseif( CMAKE_HOST_APPLE )
SET( APPLE 1 )
SET( UNIX )
endif()
find_program( ${ARGN} )
SET( WIN32 )
SET( APPLE )
SET( UNIX 1 )
set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY )
set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY )
set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY )
endmacro()
# export toolchain settings for the try_compile() command
if( NOT _CMAKE_IN_TRY_COMPILE )
set( __toolchain_config "")
foreach( __var NDK_CCACHE LIBRARY_OUTPUT_PATH_ROOT ANDROID_FORBID_SYGWIN
ANDROID_NDK_HOST_X64
ANDROID_NDK
ANDROID_NDK_LAYOUT
ANDROID_STANDALONE_TOOLCHAIN
ANDROID_TOOLCHAIN_NAME
ANDROID_ABI
ANDROID_NATIVE_API_LEVEL
ANDROID_STL
ANDROID_STL_FORCE_FEATURES
ANDROID_FORCE_ARM_BUILD
ANDROID_NO_UNDEFINED
ANDROID_SO_UNDEFINED
ANDROID_FUNCTION_LEVEL_LINKING
ANDROID_GOLD_LINKER
ANDROID_NOEXECSTACK
ANDROID_RELRO
ANDROID_LIBM_PATH
ANDROID_EXPLICIT_CRT_LINK
ANDROID_APP_PIE
)
if( DEFINED ${__var} )
if( ${__var} MATCHES " ")
set( __toolchain_config "${__toolchain_config}set( ${__var} \"${${__var}}\" CACHE INTERNAL \"\" )\n" )
else()
set( __toolchain_config "${__toolchain_config}set( ${__var} ${${__var}} CACHE INTERNAL \"\" )\n" )
endif()
endif()
endforeach()
file( WRITE "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/android.toolchain.config.cmake" "${__toolchain_config}" )
unset( __toolchain_config )
endif()
# force cmake to produce / instead of \ in build commands for Ninja generator
if( CMAKE_GENERATOR MATCHES "Ninja" AND CMAKE_HOST_WIN32 )
# it is a bad hack after all
# CMake generates Ninja makefiles with UNIX paths only if it thinks that we are going to build with MinGW
set( CMAKE_COMPILER_IS_MINGW TRUE ) # tell CMake that we are MinGW
set( CMAKE_CROSSCOMPILING TRUE ) # stop recursion
enable_language( C )
enable_language( CXX )
# unset( CMAKE_COMPILER_IS_MINGW ) # can't unset because CMake does not convert back-slashes in response files without it
unset( MINGW )
endif()
# Variables controlling behavior or set by cmake toolchain:
# ANDROID_ABI : "armeabi-v7a" (default), "armeabi", "armeabi-v7a with NEON", "armeabi-v7a with VFPV3", "armeabi-v6 with VFP", "x86", "mips", "arm64-v8a", "x86_64", "mips64"
# ANDROID_NATIVE_API_LEVEL : 3,4,5,8,9,14,15,16,17,18,19,21 (depends on NDK version)
# ANDROID_STL : gnustl_static/gnustl_shared/stlport_static/stlport_shared/gabi++_static/gabi++_shared/system_re/system/none
# ANDROID_FORBID_SYGWIN : ON/OFF
# ANDROID_NO_UNDEFINED : ON/OFF
# ANDROID_SO_UNDEFINED : OFF/ON (default depends on NDK version)
# ANDROID_FUNCTION_LEVEL_LINKING : ON/OFF
# ANDROID_GOLD_LINKER : ON/OFF
# ANDROID_NOEXECSTACK : ON/OFF
# ANDROID_RELRO : ON/OFF
# ANDROID_FORCE_ARM_BUILD : ON/OFF
# ANDROID_STL_FORCE_FEATURES : ON/OFF
# ANDROID_LIBM_PATH : path to libm.so (set to something like $(TOP)/out/target/product/<product_name>/obj/lib/libm.so) to workaround unresolved `sincos`
# Can be set only at the first run:
# ANDROID_NDK : path to your NDK install
# NDK_CCACHE : path to your ccache executable
# ANDROID_TOOLCHAIN_NAME : the NDK name of compiler toolchain
# ANDROID_NDK_HOST_X64 : try to use x86_64 toolchain (default for x64 host systems)
# ANDROID_NDK_LAYOUT : the inner NDK structure (RELEASE, LINARO, ANDROID)
# LIBRARY_OUTPUT_PATH_ROOT : <any valid path>
# ANDROID_STANDALONE_TOOLCHAIN
#
# Primary read-only variables:
# ANDROID : always TRUE
# ARMEABI : TRUE for arm v6 and older devices
# ARMEABI_V6 : TRUE for arm v6
# ARMEABI_V7A : TRUE for arm v7a
# ARM64_V8A : TRUE for arm64-v8a
# NEON : TRUE if NEON unit is enabled
# VFPV3 : TRUE if VFP version 3 is enabled
# X86 : TRUE if configured for x86
# X86_64 : TRUE if configured for x86_64
# MIPS : TRUE if configured for mips
# MIPS64 : TRUE if configured for mips64
# BUILD_WITH_ANDROID_NDK : TRUE if NDK is used
# BUILD_WITH_STANDALONE_TOOLCHAIN : TRUE if standalone toolchain is used
# ANDROID_NDK_HOST_SYSTEM_NAME : "windows", "linux-x86" or "darwin-x86" depending on host platform
# ANDROID_NDK_ABI_NAME : "armeabi", "armeabi-v7a", "x86", "mips", "arm64-v8a", "x86_64", "mips64" depending on ANDROID_ABI
# ANDROID_NDK_RELEASE : from r5 to r10d; set only for NDK
# ANDROID_NDK_RELEASE_NUM : numeric ANDROID_NDK_RELEASE version (1000*major+minor)
# ANDROID_ARCH_NAME : "arm", "x86", "mips", "arm64", "x86_64", "mips64" depending on ANDROID_ABI
# ANDROID_SYSROOT : path to the compiler sysroot
# TOOL_OS_SUFFIX : "" or ".exe" depending on host platform
# ANDROID_COMPILER_IS_CLANG : TRUE if clang compiler is used
#
# Secondary (less stable) read-only variables:
# ANDROID_COMPILER_VERSION : GCC version used (not Clang version)
# ANDROID_CLANG_VERSION : version of clang compiler if clang is used
# ANDROID_CXX_FLAGS : C/C++ compiler flags required by Android platform
# ANDROID_SUPPORTED_ABIS : list of currently allowed values for ANDROID_ABI
# ANDROID_TOOLCHAIN_MACHINE_NAME : "arm-linux-androideabi", "arm-eabi" or "i686-android-linux"
# ANDROID_TOOLCHAIN_ROOT : path to the top level of toolchain (standalone or placed inside NDK)
# ANDROID_CLANG_TOOLCHAIN_ROOT : path to clang tools
# ANDROID_SUPPORTED_NATIVE_API_LEVELS : list of native API levels found inside NDK
# ANDROID_STL_INCLUDE_DIRS : stl include paths
# ANDROID_RTTI : if rtti is enabled by the runtime
# ANDROID_EXCEPTIONS : if exceptions are enabled by the runtime
# ANDROID_GCC_TOOLCHAIN_NAME : read-only, differs from ANDROID_TOOLCHAIN_NAME only if clang is used
#
# Defaults:
# ANDROID_DEFAULT_NDK_API_LEVEL
# ANDROID_DEFAULT_NDK_API_LEVEL_${ARCH}
# ANDROID_NDK_SEARCH_PATHS
# ANDROID_SUPPORTED_ABIS_${ARCH}
# ANDROID_SUPPORTED_NDK_VERSIONS
| ET/Share/Libs/RecastDll/cmake/android.toolchain.cmake/0 | {
"file_path": "ET/Share/Libs/RecastDll/cmake/android.toolchain.cmake",
"repo_id": "ET",
"token_count": 38084
} | 88 |
using System;
using System.Collections.Generic;
using ET.Analyzer;
using Microsoft.CodeAnalysis;
using Microsoft.CodeAnalysis.CSharp.Syntax;
namespace ET.Generator;
[Generator(LanguageNames.CSharp)]
public class ETSystemGenerator: ISourceGenerator
{
private AttributeTemplate? templates;
public void Initialize(GeneratorInitializationContext context)
{
this.templates = new AttributeTemplate();
context.RegisterForSyntaxNotifications(()=> SyntaxContextReceiver.Create(this.templates));
}
public void Execute(GeneratorExecutionContext context)
{
if (context.SyntaxContextReceiver is not SyntaxContextReceiver receiver || receiver.MethodDeclarations.Count == 0)
{
return;
}
foreach (var kv in receiver.MethodDeclarations)
{
this.GenerateCSFiles(kv.Key, kv.Value, context);
}
}
/// <summary>
/// 每个静态类生成一个cs文件
/// </summary>
private void GenerateCSFiles(ClassDeclarationSyntax classDeclarationSyntax, HashSet<MethodDeclarationSyntax> methodDeclarationSyntaxes,
GeneratorExecutionContext context)
{
string className = classDeclarationSyntax.Identifier.Text;
SemanticModel semanticModel = context.Compilation.GetSemanticModel(classDeclarationSyntax.SyntaxTree);
INamedTypeSymbol? classTypeSymbol = semanticModel.GetDeclaredSymbol(classDeclarationSyntax) as INamedTypeSymbol;
if (classTypeSymbol == null)
{
return;
}
if (!classTypeSymbol.IsStatic || !classDeclarationSyntax.IsPartial())
{
Diagnostic diagnostic = Diagnostic.Create(ETSystemMethodIsInStaticPartialClassRule.Rule, classDeclarationSyntax.GetLocation(),
classDeclarationSyntax.Identifier.Text);
context.ReportDiagnostic(diagnostic);
return;
}
INamespaceSymbol? namespaceSymbol = classTypeSymbol?.ContainingNamespace;
string? namespaceName = namespaceSymbol?.Name;
while (namespaceSymbol?.ContainingNamespace != null)
{
namespaceSymbol = namespaceSymbol.ContainingNamespace;
if (string.IsNullOrEmpty(namespaceSymbol.Name))
{
break;
}
namespaceName = $"{namespaceSymbol.Name}.{namespaceName}";
}
if (namespaceName == null)
{
throw new Exception($"{className} namespace is null");
}
this.GenerateSystemCodeByTemplate(namespaceName, className, classDeclarationSyntax, methodDeclarationSyntaxes, context, semanticModel);
}
/// <summary>
/// 根据模板生成System代码
/// </summary>
private void GenerateSystemCodeByTemplate(string namespaceName, string className, ClassDeclarationSyntax classDeclarationSyntax,
HashSet<MethodDeclarationSyntax> methodDeclarationSyntaxes, GeneratorExecutionContext context, SemanticModel semanticModel)
{
if (this.templates == null)
{
throw new Exception("attribute template is null");
}
foreach (MethodDeclarationSyntax? methodDeclarationSyntax in methodDeclarationSyntaxes)
{
IMethodSymbol? methodSymbol = semanticModel.GetDeclaredSymbol(methodDeclarationSyntax) as IMethodSymbol;
if (methodSymbol == null)
{
continue;
}
ParameterSyntax? componentParam = methodDeclarationSyntax.ParameterList.Parameters.FirstOrDefault();
if (componentParam == null)
{
continue;
}
string methodName = methodDeclarationSyntax.Identifier.Text;
string? componentName = componentParam.Type?.ToString();
List<string> argsTypesList = new List<string>();
List<string> argsTypeVarsList = new List<string>();
List<string> argsVarsList = new List<string>();
List<string> argsTypesWithout0List = new List<string>();
List<string> argsTypeVarsWithout0List = new List<string>();
List<string> argsVarsWithout0List = new List<string>();
for (int i = 0; i < methodSymbol.Parameters.Length; i++)
{
string type = methodSymbol.Parameters[i].Type.ToString();
type = type.Trim();
if (type == "")
{
continue;
}
string name = $"{methodSymbol.Parameters[i].Name}";
argsTypesList.Add(type);
argsVarsList.Add(name);
string typeName = $"{type} {name}";
argsTypeVarsList.Add(typeName);
if (i != 0)
{
argsTypesWithout0List.Add(type);
argsTypeVarsWithout0List.Add(typeName);
argsVarsWithout0List.Add(name);
}
}
foreach (AttributeListSyntax attributeListSyntax in methodDeclarationSyntax.AttributeLists)
{
AttributeSyntax? attribute = attributeListSyntax.Attributes.FirstOrDefault();
if (attribute == null)
{
continue;
}
string attributeType = attribute.Name.ToString();
string attributeString = $"[{attribute.ToString()}]";
string template = this.templates.Get(attributeType);
string code = $$"""
namespace {{namespaceName}}
{
public static partial class {{className}}
{
{{template}}
}
}
""";
string argsVars = string.Join(", ", argsVarsList);
string argsTypes = string.Join(", ", argsTypesList);
string argsTypesVars = string.Join(", ", argsTypeVarsList);
string argsTypesUnderLine = string.Join("_", argsTypesList).Replace(", ", "_").Replace(".", "_")
.Replace("<", "_").Replace(">", "_").Replace("[]","Array").Replace("(","_").Replace(")","_");
string argsTypesWithout0 = string.Join(", ", argsTypesWithout0List);
string argsVarsWithout0 = string.Join(", ", argsVarsWithout0List);
string argsTypesVarsWithout0 = string.Join(", ", argsTypeVarsWithout0List);
SpeicalProcessForArgs();
if (methodSymbol.ReturnType.ToDisplayString() == "void")
{
code = code.Replace("$returnType$", "void");
code = code.Replace("$return$", "");
}else{
code = code.Replace("$returnType$", methodSymbol.ReturnType.ToDisplayString());
code = code.Replace("$return$", "return ");
}
code = code.Replace("$attribute$", attributeString);
code = code.Replace("$attributeType$", attributeType);
code = code.Replace("$methodName$", methodName);
code = code.Replace("$className$", className);
code = code.Replace("$entityType$", componentName);
code = code.Replace("$argsTypes$", argsTypes);
code = code.Replace("$argsTypesUnderLine$", argsTypesUnderLine);
code = code.Replace("$argsTypesVars$", argsTypesVars);
code = code.Replace("$argsVars$", argsVars);
code = code.Replace("$argsTypesWithout0$", argsTypesWithout0);
code = code.Replace("$argsVarsWithout0$", argsVarsWithout0);
code = code.Replace("$argsTypesVarsWithout0$", argsTypesVarsWithout0);
for (int i = 0; i < argsTypesList.Count; ++i)
{
code = code.Replace($"$argsTypes{i}$", argsTypesList[i]);
code = code.Replace($"$argsVars{i}$", argsVarsList[i]);
}
string fileName = $"{namespaceName}.{className}.{methodName}.{argsTypesUnderLine}.g.cs";
context.AddSource(fileName, code);
void SpeicalProcessForArgs()
{
if ((attributeType=="EntitySystem" || attributeType=="LSEntitySystem")&&methodName==Definition.GetComponentMethod)
{
argsTypes = argsTypes.Split(',')[0];
}
}
}
}
}
class SyntaxContextReceiver: ISyntaxContextReceiver
{
internal static ISyntaxContextReceiver Create(AttributeTemplate attributeTemplate)
{
return new SyntaxContextReceiver(attributeTemplate);
}
private AttributeTemplate attributeTemplate;
SyntaxContextReceiver(AttributeTemplate attributeTemplate)
{
this.attributeTemplate = attributeTemplate;
}
public Dictionary<ClassDeclarationSyntax, HashSet<MethodDeclarationSyntax>> MethodDeclarations { get; } = new();
public void OnVisitSyntaxNode(GeneratorSyntaxContext context)
{
SyntaxNode node = context.Node;
if (node is not MethodDeclarationSyntax methodDeclarationSyntax)
{
return;
}
if (methodDeclarationSyntax.AttributeLists.Count == 0)
{
return;
}
bool found = false;
foreach (AttributeListSyntax attributeListSyntax in methodDeclarationSyntax.AttributeLists)
{
AttributeSyntax? attribute = attributeListSyntax.Attributes.FirstOrDefault();
if (attribute == null)
{
return;
}
string attributeName = attribute.Name.ToString();
if (this.attributeTemplate.Contains(attributeName))
{
found = true;
}
}
if (!found)
{
return;
}
ClassDeclarationSyntax? parentClass = methodDeclarationSyntax.GetParentClassDeclaration();
if (parentClass == null)
{
return;
}
if (!MethodDeclarations.ContainsKey(parentClass))
{
MethodDeclarations[parentClass] = new HashSet<MethodDeclarationSyntax>();
}
MethodDeclarations[parentClass].Add(methodDeclarationSyntax);
}
}
} | ET/Share/Share.SourceGenerator/Generator/ETSystemGenerator/ETSystemGenerator.cs/0 | {
"file_path": "ET/Share/Share.SourceGenerator/Generator/ETSystemGenerator/ETSystemGenerator.cs",
"repo_id": "ET",
"token_count": 5023
} | 89 |
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| ET/Unity/Assets/Bundles/UI/LockStep/UILSLogin.prefab/0 | {
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"token_count": 14691
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"repo_id": "ET",
"token_count": 72
} | 94 |
using System;
namespace ET
{
/// <summary>
/// 添加该标记的类或结构体禁止使用new关键字构造对象
/// </summary>
[AttributeUsage(AttributeTargets.Class|AttributeTargets.Struct,Inherited = true)]
public class DisableNewAttribute : Attribute
{
}
}
| ET/Unity/Assets/Scripts/Core/Analyzer/DisableNewAttribute.cs/0 | {
"file_path": "ET/Unity/Assets/Scripts/Core/Analyzer/DisableNewAttribute.cs",
"repo_id": "ET",
"token_count": 145
} | 95 |
using System;
using System.Collections.Generic;
namespace ET
{
public class DoubleMap<K, V>
{
private readonly Dictionary<K, V> kv = new();
private readonly Dictionary<V, K> vk = new();
public DoubleMap()
{
}
public DoubleMap(int capacity)
{
kv = new Dictionary<K, V>(capacity);
vk = new Dictionary<V, K>(capacity);
}
public void ForEach(Action<K, V> action)
{
if (action == null)
{
return;
}
Dictionary<K, V>.KeyCollection keys = kv.Keys;
foreach (K key in keys)
{
action(key, kv[key]);
}
}
public List<K> Keys
{
get
{
return new List<K>(kv.Keys);
}
}
public List<V> Values
{
get
{
return new List<V>(vk.Keys);
}
}
public void Add(K key, V value)
{
if (key == null || value == null || kv.ContainsKey(key) || vk.ContainsKey(value))
{
return;
}
kv.Add(key, value);
vk.Add(value, key);
}
public V GetValueByKey(K key)
{
if (key != null && kv.ContainsKey(key))
{
return kv[key];
}
return default(V);
}
public K GetKeyByValue(V value)
{
if (value != null && vk.ContainsKey(value))
{
return vk[value];
}
return default(K);
}
public void RemoveByKey(K key)
{
if (key == null)
{
return;
}
V value;
if (!kv.TryGetValue(key, out value))
{
return;
}
kv.Remove(key);
vk.Remove(value);
}
public void RemoveByValue(V value)
{
if (value == null)
{
return;
}
K key;
if (!vk.TryGetValue(value, out key))
{
return;
}
kv.Remove(key);
vk.Remove(value);
}
public void Clear()
{
kv.Clear();
vk.Clear();
}
public bool ContainsKey(K key)
{
if (key == null)
{
return false;
}
return kv.ContainsKey(key);
}
public bool ContainsValue(V value)
{
if (value == null)
{
return false;
}
return vk.ContainsKey(value);
}
public bool Contains(K key, V value)
{
if (key == null || value == null)
{
return false;
}
return kv.ContainsKey(key) && vk.ContainsKey(value);
}
}
} | ET/Unity/Assets/Scripts/Core/DoubleMap.cs/0 | {
"file_path": "ET/Unity/Assets/Scripts/Core/DoubleMap.cs",
"repo_id": "ET",
"token_count": 1034
} | 96 |
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| ET/Unity/Assets/Scripts/Core/Entity/EntitySystemSingleton.cs.meta/0 | {
"file_path": "ET/Unity/Assets/Scripts/Core/Entity/EntitySystemSingleton.cs.meta",
"repo_id": "ET",
"token_count": 94
} | 97 |
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"file_path": "ET/Unity/Assets/Scripts/Core/Entity/ISerializeToEntity.cs.meta",
"repo_id": "ET",
"token_count": 96
} | 98 |
using System;
using System.Collections.Generic;
using System.Threading;
namespace ET
{
public static class FiberHelper
{
public static ActorId GetActorId(this Entity self)
{
Fiber root = self.Fiber();
return new ActorId(root.Process, root.Id, self.InstanceId);
}
}
public class Fiber: IDisposable
{
// 该字段只能框架使用，绝对不能改成public，改了后果自负
[StaticField]
[ThreadStatic]
internal static Fiber Instance;
public bool IsDisposed;
public int Id;
public int Zone;
public Scene Root { get; }
public Address Address
{
get
{
return new Address(this.Process, this.Id);
}
}
public int Process
{
get
{
return Options.Instance.Process;
}
}
public EntitySystem EntitySystem { get; }
public Mailboxes Mailboxes { get; private set; }
public ThreadSynchronizationContext ThreadSynchronizationContext { get; }
public ILog Log { get; }
private readonly Queue<ETTask> frameFinishTasks = new();
internal Fiber(int id, int zone, SceneType sceneType, string name)
{
this.Id = id;
this.Zone = zone;
this.EntitySystem = new EntitySystem();
this.Mailboxes = new Mailboxes();
this.ThreadSynchronizationContext = new ThreadSynchronizationContext();
#if UNITY
this.Log = Logger.Instance.Log;
#else
this.Log = new NLogger(sceneType.ToString(), this.Process, this.Id);
#endif
this.Root = new Scene(this, id, 1, sceneType, name);
}
internal void Update()
{
try
{
this.EntitySystem.Update();
}
catch (Exception e)
{
this.Log.Error(e);
}
}
internal void LateUpdate()
{
try
{
this.EntitySystem.LateUpdate();
FrameFinishUpdate();
this.ThreadSynchronizationContext.Update();
}
catch (Exception e)
{
Log.Error(e);
}
}
public async ETTask WaitFrameFinish()
{
ETTask task = ETTask.Create(true);
this.frameFinishTasks.Enqueue(task);
await task;
}
private void FrameFinishUpdate()
{
while (this.frameFinishTasks.Count > 0)
{
ETTask task = this.frameFinishTasks.Dequeue();
task.SetResult();
}
}
public void Dispose()
{
if (this.IsDisposed)
{
return;
}
this.IsDisposed = true;
this.Root.Dispose();
}
}
} | ET/Unity/Assets/Scripts/Core/Fiber/Fiber.cs/0 | {
"file_path": "ET/Unity/Assets/Scripts/Core/Fiber/Fiber.cs",
"repo_id": "ET",
"token_count": 1650
} | 99 |
using System;
using System.Collections.Generic;
using System.IO;
namespace ET
{
[EntitySystemOf(typeof(ProcessInnerSender))]
[FriendOf(typeof(ProcessInnerSender))]
public static partial class ProcessInnerSenderSystem
{
[EntitySystem]
private static void Destroy(this ProcessInnerSender self)
{
Fiber fiber = self.Fiber();
MessageQueue.Instance.RemoveQueue(fiber.Id);
}
[EntitySystem]
private static void Awake(this ProcessInnerSender self)
{
Fiber fiber = self.Fiber();
MessageQueue.Instance.AddQueue(fiber.Id);
}
[EntitySystem]
private static void Update(this ProcessInnerSender self)
{
self.list.Clear();
Fiber fiber = self.Fiber();
MessageQueue.Instance.Fetch(fiber.Id, 1000, self.list);
foreach (MessageInfo actorMessageInfo in self.list)
{
self.HandleMessage(fiber, actorMessageInfo);
}
}
private static void HandleMessage(this ProcessInnerSender self, Fiber fiber, in MessageInfo messageInfo)
{
if (messageInfo.MessageObject is IResponse response)
{
self.HandleIActorResponse(response);
return;
}
ActorId actorId = messageInfo.ActorId;
MessageObject message = messageInfo.MessageObject;
MailBoxComponent mailBoxComponent = self.Fiber().Mailboxes.Get(actorId.InstanceId);
if (mailBoxComponent == null)
{
Log.Warning($"actor not found mailbox, from: {actorId} current: {fiber.Address} {message}");
if (message is IRequest request)
{
IResponse resp = MessageHelper.CreateResponse(request.GetType(), request.RpcId, ErrorCore.ERR_NotFoundActor);
self.Reply(actorId.Address, resp);
}
return;
}
mailBoxComponent.Add(actorId.Address, message);
}
private static void HandleIActorResponse(this ProcessInnerSender self, IResponse response)
{
if (!self.requestCallback.Remove(response.RpcId, out MessageSenderStruct actorMessageSender))
{
return;
}
Run(actorMessageSender, response);
}
private static void Run(MessageSenderStruct self, IResponse response)
{
if (response.Error == ErrorCore.ERR_MessageTimeout)
{
self.SetException(new RpcException(response.Error, $"Rpc error: request, 注意Actor消息超时，请注意查看是否死锁或者没有reply: actorId: {self.ActorId} {self.RequestType.FullName}, response: {response}"));
return;
}
if (self.NeedException && ErrorCore.IsRpcNeedThrowException(response.Error))
{
self.SetException(new RpcException(response.Error, $"Rpc error: actorId: {self.ActorId} request: {self.RequestType.FullName}, response: {response}"));
return;
}
self.SetResult(response);
}
public static void Reply(this ProcessInnerSender self, Address fromAddress, IResponse message)
{
self.SendInner(new ActorId(fromAddress, 0), (MessageObject)message);
}
public static void Send(this ProcessInnerSender self, ActorId actorId, IMessage message)
{
self.SendInner(actorId, (MessageObject)message);
}
private static bool SendInner(this ProcessInnerSender self, ActorId actorId, MessageObject message)
{
Fiber fiber = self.Fiber();
// 如果发向同一个进程，则扔到消息队列中
if (actorId.Process != fiber.Process)
{
throw new Exception($"actor inner process diff: {actorId.Process} {fiber.Process}");
}
if (actorId.Fiber == fiber.Id)
{
self.HandleMessage(fiber, new MessageInfo() {ActorId = actorId, MessageObject = message});
return true;
}
return MessageQueue.Instance.Send(fiber.Address, actorId, message);
}
private static int GetRpcId(this ProcessInnerSender self)
{
return ++self.RpcId;
}
public static async ETTask<IResponse> Call(
this ProcessInnerSender self,
ActorId actorId,
IRequest request,
bool needException = true
)
{
int rpcId = self.GetRpcId();
request.RpcId = rpcId;
if (actorId == default)
{
throw new Exception($"actor id is 0: {request}");
}
Fiber fiber = self.Fiber();
if (fiber.Process != actorId.Process)
{
throw new Exception($"actor inner process diff: {actorId.Process} {fiber.Process}");
}
Type requestType = request.GetType();
MessageSenderStruct messageSenderStruct = new(actorId, requestType, needException);
self.requestCallback.Add(rpcId, messageSenderStruct);
IResponse response;
if (!self.SendInner(actorId, (MessageObject)request)) // 纤程不存在
{
response = MessageHelper.CreateResponse(requestType, rpcId, ErrorCore.ERR_NotFoundActor);
return response;
}
async ETTask Timeout()
{
await fiber.Root.GetComponent<TimerComponent>().WaitAsync(ProcessInnerSender.TIMEOUT_TIME);
if (!self.requestCallback.Remove(rpcId, out MessageSenderStruct action))
{
return;
}
if (needException)
{
action.SetException(new Exception($"actor sender timeout: {requestType.FullName}"));
}
else
{
IResponse response = MessageHelper.CreateResponse(requestType, rpcId, ErrorCore.ERR_Timeout);
action.SetResult(response);
}
}
Timeout().Coroutine();
long beginTime = TimeInfo.Instance.ServerFrameTime();
response = await messageSenderStruct.Wait();
long endTime = TimeInfo.Instance.ServerFrameTime();
long costTime = endTime - beginTime;
if (costTime > 200)
{
Log.Warning($"actor rpc time > 200: {costTime} {requestType.FullName}");
}
return response;
}
}
} | ET/Unity/Assets/Scripts/Core/Fiber/Module/Actor/ProcessInnerSenderSystem.cs/0 | {
"file_path": "ET/Unity/Assets/Scripts/Core/Fiber/Module/Actor/ProcessInnerSenderSystem.cs",
"repo_id": "ET",
"token_count": 3426
} | 100 |
using System;
using System.Collections.Generic;
namespace ET
{
public class NavmeshComponent: Singleton<NavmeshComponent>, ISingletonAwake
{
public struct RecastFileLoader
{
public string Name { get; set; }
}
private readonly Dictionary<string, byte[]> navmeshs = new();
public void Awake()
{
}
public byte[] Get(string name)
{
lock (this)
{
if (this.navmeshs.TryGetValue(name, out byte[] bytes))
{
return bytes;
}
byte[] buffer =
EventSystem.Instance.Invoke<NavmeshComponent.RecastFileLoader, byte[]>(
new NavmeshComponent.RecastFileLoader() { Name = name });
if (buffer.Length == 0)
{
throw new Exception($"no nav data: {name}");
}
this.navmeshs[name] = buffer;
return buffer;
}
}
}
} | ET/Unity/Assets/Scripts/Core/Fiber/Module/Navmesh/NavmeshComponent.cs/0 | {
"file_path": "ET/Unity/Assets/Scripts/Core/Fiber/Module/Navmesh/NavmeshComponent.cs",
"repo_id": "ET",
"token_count": 601
} | 101 |
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using System;
using System.Collections.Generic;
namespace ET
{
public class MultiMap<T, K>: SortedDictionary<T, List<K>>
{
private readonly List<K> Empty = new();
private readonly int maxPoolCount;
private readonly Queue<List<K>> pool;
public MultiMap(int maxPoolCount = 0)
{
this.maxPoolCount = maxPoolCount;
this.pool = new Queue<List<K>>(maxPoolCount);
}
private List<K> FetchList()
{
if (this.pool.Count > 0)
{
return this.pool.Dequeue();
}
return new List<K>(10);
}
private void Recycle(List<K> list)
{
if (list == null)
{
return;
}
if (this.pool.Count == this.maxPoolCount)
{
return;
}
list.Clear();
this.pool.Enqueue(list);
}
public void Add(T t, K k)
{
List<K> list;
this.TryGetValue(t, out list);
if (list == null)
{
list = this.FetchList();
this.Add(t, list);
}
list.Add(k);
}
public bool Remove(T t, K k)
{
List<K> list;
this.TryGetValue(t, out list);
if (list == null)
{
return false;
}
if (!list.Remove(k))
{
return false;
}
if (list.Count == 0)
{
this.Remove(t);
}
return true;
}
public new bool Remove(T t)
{
List<K> list;
this.TryGetValue(t, out list);
if (list == null)
{
return false;
}
this.Recycle(list);
return base.Remove(t);
}
/// <summary>
/// 不返回内部的list,copy一份出来
/// </summary>
/// <param name="t"></param>
/// <returns></returns>
public K[] GetAll(T t)
{
List<K> list;
this.TryGetValue(t, out list);
if (list == null)
{
return Array.Empty<K>();
}
return list.ToArray();
}
/// <summary>
/// 返回内部的list
/// </summary>
/// <param name="t"></param>
/// <returns></returns>
public new List<K> this[T t]
{
get
{
this.TryGetValue(t, out List<K> list);
return list ?? Empty;
}
}
public K GetOne(T t)
{
List<K> list;
this.TryGetValue(t, out list);
if (list != null && list.Count > 0)
{
return list[0];
}
return default;
}
public bool Contains(T t, K k)
{
List<K> list;
this.TryGetValue(t, out list);
if (list == null)
{
return false;
}
return list.Contains(k);
}
}
} | ET/Unity/Assets/Scripts/Core/MultiMap.cs/0 | {
"file_path": "ET/Unity/Assets/Scripts/Core/MultiMap.cs",
"repo_id": "ET",
"token_count": 1960
} | 104 |
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"file_path": "ET/Unity/Assets/Scripts/Core/UnOrderMultiMapSet.cs.meta",
"repo_id": "ET",
"token_count": 96
} | 106 |
using System;
namespace ET
{
public class MessageLocationHandlerAttribute: MessageHandlerAttribute
{
public MessageLocationHandlerAttribute(SceneType sceneType): base(sceneType)
{
}
}
} | ET/Unity/Assets/Scripts/Core/World/Module/Actor/MessageLocationHandlerAttribute.cs/0 | {
"file_path": "ET/Unity/Assets/Scripts/Core/World/Module/Actor/MessageLocationHandlerAttribute.cs",
"repo_id": "ET",
"token_count": 81
} | 107 |
namespace ET
{
public interface IMerge
{
void Merge(object o);
}
} | ET/Unity/Assets/Scripts/Core/World/Module/Config/IMerge.cs/0 | {
"file_path": "ET/Unity/Assets/Scripts/Core/World/Module/Config/IMerge.cs",
"repo_id": "ET",
"token_count": 43
} | 108 |
fileFormatVersion: 2
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folderAsset: yes
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"repo_id": "ET",
"token_count": 67
} | 109 |
fileFormatVersion: 2
guid: eab6524185f247a78b3320f9d6a3eed5
timeCreated: 1503647600 | ET/Unity/Assets/Scripts/Editor/BuildEditor.meta/0 | {
"file_path": "ET/Unity/Assets/Scripts/Editor/BuildEditor.meta",
"repo_id": "ET",
"token_count": 40
} | 110 |
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"repo_id": "ET",
"token_count": 95
} | 111 |
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"file_path": "ET/Unity/Assets/Scripts/Editor/ComponentViewEditor/TypeDrawer/RectTypeDrawer.cs.meta",
"repo_id": "ET",
"token_count": 95
} | 112 |
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