connection-core/com.divpundir.mavlink.connection/MavRawFrame

MavRawFrame

data class MavRawFrame(val stx: UByte, val len: UByte, val incompatFlags: UByte, val compatFlags: UByte, val seq: UByte, val systemId: UByte, val componentId: UByte, val messageId: UInt, val payload: ByteArray, val checksum: UShort, val signatureLinkId: UByte, val signatureTimestamp: UInt, val signature: ByteArray, val rawBytes: ByteArray)

Represents a mid-level MAVLink Frame, i.e., a frame that is in between a fully deserialized high-level object, and a wire-format ByteArray.

Note: Several functions of this class are not fault-tolerant. They assume that the input raw bytes are valid ByteArrays. For example, generateSignature assumes that its input frameBytes is a correct MAVLink v2 frame in the form of raw bytes. Therefore, the users of this class should be careful while using it.

Refer: MAVLink Serialization

Constructors

MavRawFrame

constructor(stx: UByte, len: UByte, incompatFlags: UByte, compatFlags: UByte, seq: UByte, systemId: UByte, componentId: UByte, messageId: UInt, payload: ByteArray, checksum: UShort, signatureLinkId: UByte, signatureTimestamp: UInt, signature: ByteArray, rawBytes: ByteArray)

Types

object Companion

object Flags

object Sizes

object Stx

Properties

checksum

val checksum: UShort

compatFlags

val compatFlags: UByte

componentId

val componentId: UByte

incompatFlags

val incompatFlags: UByte

isSigned

val isSigned: Boolean

Returns true if the frame is a signed MAVLink v2 frame, false otherwise.

len

val len: UByte

messageId

val messageId: UInt

payload

val payload: ByteArray

rawBytes

val rawBytes: ByteArray

seq

val seq: UByte

signature

val signature: ByteArray

signatureLinkId

val signatureLinkId: UByte

signatureTimestamp

val signatureTimestamp: UInt

stx

val stx: UByte

systemId

val systemId: UByte

Functions

equals

open operator override fun equals(other: Any?): Boolean

hashCode

open override fun hashCode(): Int

validateCrc

fun validateCrc(crcExtra: Byte): Boolean

Validates the frame's checksum using the MAVLink message crcExtra and the frame's rawBytes.

validateSignature

fun validateSignature(secretKey: ByteArray): Boolean

Validates the frame's signature using the given secretKey. If the secretKey's size is less than 32 then it is padded with zeroes. If the size is more than 32, then only the first 32 bytes are taken.