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CMakeLists.txt (2603, 2018-09-18)
CONTRIBUTING.md (3936, 2018-09-18)
LICENSE.md (17963, 2018-09-18)
Makefile (1977, 2018-09-18)
cmake (0, 2018-09-18)
cmake\CMakeLists.txt (595, 2018-09-18)
cmake\Makefile (42, 2018-09-18)
cmake\codecov (0, 2018-09-18)
doc (0, 2018-09-18)
doc\CMakeLists.txt (861, 2018-09-18)
doc\Doxyfile.in (108420, 2018-09-18)
doc\configuration.md (12568, 2018-09-18)
doc\mainpage.md (1982, 2018-09-18)
doc\make_targets.md (2547, 2018-09-18)
doc\user_manual.md (8013, 2018-09-18)
examples (0, 2018-09-18)
examples\mavtables.conf (1043, 2018-09-18)
lib (0, 2018-09-18)
lib\CMakeLists.txt (4361, 2018-09-18)
lib\Makefile (149, 2018-09-18)
lib\catch (0, 2018-09-18)
lib\fake_clock (0, 2018-09-18)
lib\fakeit (0, 2018-09-18)
lib\mavlink (0, 2018-09-18)
lib\mavlink\mavlink (0, 2018-09-18)
lib\mavlink\mavlink\v2.0 (0, 2018-09-18)
lib\pegtl (0, 2018-09-18)
mavtables.service.in (237, 2018-09-18)
src (0, 2018-09-18)
src\Accept.cpp (4158, 2018-09-18)
src\Accept.hpp (1608, 2018-09-18)
src\Action.cpp (5555, 2018-09-18)
src\Action.hpp (2980, 2018-09-18)
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mavtables {#readme} =================== [](https://travis-ci.org/shamuproject/mavtables) [](https://coveralls.io/github/shamuproject/mavtables?branch=master) A MAVLink router and firewall. It can connect 2 or more MAVLink endpoints such as autopilots, ground control software, loggers, image capture systems, etc over serial and UDP. MAVLink packets will be routed to specific components when they have a destination address. Any packet, targeted or broadcasted, can be filtered based on source system/component, destination system/component and message type. The filter can also apply a priority to packets allowing more important packets to take priority over lower priority packets when an endpoint is choked. ## Links * [User Documentation](doc/user_manual.md) * [HTML Developer Documentation](https://shamuproject.github.io/mavtables) * [PDF Developer Documentation](https://shamuproject.github.io/mavtables/mavtables.pdf) * [Download](https://github.com/shamuproject/mavtables/archive/master.zip) * [GitHub](https://github.com/shamuproject/mavtables) * [Theory of MAVLink Routing](http://ardupilot.org/dev/docs/mavlink-routing-in-ardupilot.html) ## Compilation and Installation In order to compile you will need the following packages: * GCC 7+ or Clang 5+ (needed for C++17 support) * [CMake v3.3+](https://cmake.org/) * [Boost v1.54+](https://www.boost.org/) __Clang is recommended when contributing to mavtables as it's warnings are more comprehensive. However, GCC must be used when generating code coverage reports.__ The following packages are only needed for development work: * [Artistic Style](http://astyle.sourceforge.net/) (used for checking/fixing the code style) * [Gcovr](http://gcovr.com/) (coverage report) * [LCOV](http://ltp.sourceforge.net/coverage/lcov.php) (detailed coverage html report) * [socat](http://www.dest-unreach.org/socat/) (for testing serial port communications) `mavtables` can be easily installed using the standard procedure of ``` $ make # make install ``` The installation prefix is `/usr/local` by default but can be changed with ``` $ make # make PREFIX=/desired/install/path install ``` The makefile will download and use the default MAVLink implementation with the ArduPilot dialect. This can be overridden by setting the `MDIR` environment variable to the library path (containing the `DIALECT`) and/or the `DIALECT` environment variable to the MAVLink dialect to use. For instance the default value of `DIALECT` is `ardupilotmega`. ## Running To run mavtables and begin routing packets ``` $ mavtables ``` This will use the first configuration file it finds in the configuration file priority order given in the next section. To force a specific configuration file the `--config` flag may be used. ``` $ mavtables --config ``` The inbuilt help may be accessed with the `-h` or `--help` flags. ``` $ mavtalbes --help usage: mavtables: -h [ --help ] print this message --config arg specify configuration file --ast print AST of configuration file (do not run) --version print version and license information --loglevel arg level of logging, between 0 and 3 ``` ## Configuration File Both interfaces and filter rules are defined in a configuration file. The format of this configuration file is documented in [`doc/configuration.md`](doc/configuration.md) and an example is located at `examples/mavtables.conf` which is the same file that is installed at `/etc/mavtables.conf` when using `make install`. The configuration file used is the first one found in the following order: 1. The target of the `MAVTABLES_CONFIG_PATH` environment variable. 2. `.mavtablesrc` in the current directory. 3. `.mavtablesrc` at `$HOME/.mavtablesrc`. 4. The main configuration file at `/etc/mavtables.conf`. If the `--config` flag is given then mavtables will only look for the given configuration file. ## Contributing Before contributing read the `CONTRIBUTING.md` file which gives guidelines that must be followed by all developers working on mavtables.

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