pblink-cc

Zero-dependency C++17 Companion Computer SDK for PX4 pblink protocol.

Features

• High-speed Binary Bridge: Direct uORB <-> Protobuf communication (50Hz–200Hz)
• Zero External Dependencies: Pure C++17 POSIX library, uses Nanopb for lightweight C struct serialization
• Multi-Transport Support: UDP (udp://127.0.0.1:14556) and Serial UART (serial:///dev/ttyUSB0:115200)
• Hybrid API Model: Asynchronous event callbacks (client.on<T>()) and lock-free buffer polling (client.read(msg))

Directory Structure

• include/pblink/: C++ header files (Client.hpp, Transport.hpp, UdpTransport.hpp, SerialTransport.hpp, Messages.hpp)
• src/: Implementation files (Client.cpp, Transport.cpp, UdpTransport.cpp, SerialTransport.cpp)
• examples/: Minimal usage examples (Main.cpp)
• tests/: Unit test suite (TestClient.cpp)
• docs/: Architecture specification (architecture.md) and design notes (design.md)

Quick Start (Build & Test)

# Configure and build
cmake -B build
cmake --build build

# Run example application
./build/pblink_example

# Run unit tests
./build/pblink_tests