.. _program_listing_file_include_mavconn_msgbuffer.hpp:

Program Listing for File msgbuffer.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_mavconn_msgbuffer.hpp>` (``include/mavconn/msgbuffer.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   //
   // libmavconn
   // Copyright 2014,2015,2016,2021 Vladimir Ermakov, All rights reserved.
   //
   // This file is part of the mavros package and subject to the license terms
   // in the top-level LICENSE file of the mavros repository.
   // https://github.com/mavlink/mavros/tree/master/LICENSE.md
   //
   #pragma once
   #ifndef MAVCONN__MSGBUFFER_HPP_
   #define MAVCONN__MSGBUFFER_HPP_
   
   #include <cassert>
   
   #include <mavconn/mavlink_dialect.hpp>
   
   namespace mavconn
   {
   
   struct MsgBuffer
   {
     static constexpr ssize_t MAX_SIZE = MAVLINK_MAX_PACKET_LEN + 16;
     uint8_t data[MAX_SIZE];
     ssize_t len;
     ssize_t pos;
   
     MsgBuffer()
     : data{},
       len(0),
       pos(0)
     {
     }
   
     explicit MsgBuffer(const mavlink::mavlink_message_t * msg)
     : pos(0)
     {
       len = mavlink::mavlink_msg_to_send_buffer(data, msg);
       // paranoic check, it must be less than MAVLINK_MAX_PACKET_LEN
       assert(len < MAX_SIZE);
     }
   
     MsgBuffer(
       const mavlink::Message & obj, mavlink::mavlink_status_t * status, uint8_t sysid,
       uint8_t compid)
     : pos(0)
     {
       mavlink::mavlink_message_t msg;
       mavlink::MsgMap map(msg);
   
       auto mi = obj.get_message_info();
   
       obj.serialize(map);
       mavlink::mavlink_finalize_message_buffer(
         &msg, sysid, compid, status, mi.min_length, mi.length,
         mi.crc_extra);
   
       len = mavlink::mavlink_msg_to_send_buffer(data, &msg);
       // paranoic check, it must be less than MAVLINK_MAX_PACKET_LEN
       assert(len < MAX_SIZE);
     }
   
     MsgBuffer(const uint8_t * bytes, ssize_t nbytes)
     : len(nbytes),
       pos(0)
     {
       assert(0 < nbytes && nbytes < MAX_SIZE);
       std::memcpy(data, bytes, nbytes);
     }
   
     virtual ~MsgBuffer()
     {
       pos = 0;
       len = 0;
     }
   
     uint8_t * dpos()
     {
       return data + pos;
     }
   
     ssize_t nbytes()
     {
       return len - pos;
     }
   };
   
   }  // namespace mavconn
   
   #endif  // MAVCONN__MSGBUFFER_HPP_