MavlinkStatus.h

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/* Copyright (c) 2019 Skyward Experimental Rocketry
 * Author: Alvise de'Faveri Tron
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <logger/Logger.h>
#include <mavlink_lib/mavlink_types.h>
 
#include <ostream>
#include <reflect.hpp>
#include <string>
#include <type_traits>
 
namespace Boardcore
{
 
/*  uint8_t msg_received;               ///< Number of received messages
 uint8_t buffer_overrun;             ///< Number of buffer overruns
 uint8_t parse_error;                ///< Number of parse errors
 mavlink_parse_state_t parse_state;  ///< Parsing state machine
 uint8_t packet_idx;                 ///< Index in current packet
 uint8_t current_rx_seq;  ///< Sequence number of last packet received
 uint8_t current_tx_seq;  ///< Sequence number of last packet sent
 uint16_t packet_rx_success_count;  ///< Received packets
 uint16_t packet_rx_drop_count;     ///< Number of packet drops */
 
struct MavlinkStatus
{
    uint64_t timestamp;
    uint16_t nSendQueue;  
    uint16_t maxSendQueue;     
    uint16_t nSendErrors;      
    uint16_t nDroppedPackets;  
    mavlink_status_t mavStats;
 
    static constexpr auto reflect()
    {
        return STRUCT_DEF(
            MavlinkStatus,
            FIELD_DEF(timestamp) FIELD_DEF(nSendQueue) FIELD_DEF(maxSendQueue)
                FIELD_DEF(nSendErrors) FIELD_DEF(nDroppedPackets) FIELD_DEF2(
                    mavStats, msg_received) FIELD_DEF2(mavStats, buffer_overrun)
                    FIELD_DEF2(mavStats, parse_error) FIELD_DEF2(
                        mavStats, parse_state) FIELD_DEF2(mavStats, packet_idx)
                        FIELD_DEF2(mavStats, current_rx_seq)
                            FIELD_DEF2(mavStats, current_tx_seq)
                                FIELD_DEF2(mavStats, packet_rx_success_count)
                                    FIELD_DEF2(mavStats, packet_rx_drop_count));
    }
};
 
}  // namespace Boardcore