Basic Serialization and Deserialization with Mavlink 2.0

mavlink.cpp

int main(int argc, char const *argv[]) {
  mavlink_message_t msg;
  time_t boot = time(NULL);
  mavlink_msg_system_time_pack(mavlink_system.sysid, mavlink_system.compid, &msg, time(NULL), boot);

  unsigned char buf[sizeof(msg)];
  printf("Message Size: %ld\n", sizeof(msg));
  mavlink_msg_to_send_buffer(buf, &msg);

  std::fstream fs("samplepacket.txt", std::fstream::out | std::fstream::binary);

  fs.write((char *) &buf, sizeof(msg));

  fs.close();

  std::fstream ifs("samplepacket.txt", std::fstream::in | std::fstream::binary);

  unsigned char recv[MAVLINK_MAX_PACKET_LEN];

  mavlink_status_t status;
  mavlink_message_t recvmsg;
  int chan = MAVLINK_COMM_0;

  char byte;
  while(ifs.get(byte)) {
    if(mavlink_parse_char(chan, (uint8_t) byte, &recvmsg, &status)) {
      printf("Received message with ID %d, sequence: %d from component %d of system %d\n", recvmsg.msgid, recvmsg.seq, recvmsg.compid, recvmsg.sysid);
    }
  }

  switch (recvmsg.msgid) {
    case MAVLINK_MSG_ID_SYSTEM_TIME:
      mavlink_system_time_t time;
      mavlink_msg_system_time_decode(&recvmsg, &time);
      printf("Received Time: %ld, %d\n", time.time_unix_usec, time.time_boot_ms);
  }

  ifs.close();


  return 0;
}