c/py: add raw connection

c/src/cmavsdk/mavsdk.cpp

@@ -506,6 +506,50 @@ void mavsdk_unsubscribe_outgoing_messages_json(
     delete pair;
 }
 
+// --- Raw Bytes ---
+void mavsdk_pass_received_raw_bytes(mavsdk_t mavsdk, const char* bytes, size_t length) {
+    auto* cpp_mavsdk = reinterpret_cast<Mavsdk*>(mavsdk);
+    cpp_mavsdk->pass_received_raw_bytes(bytes, length);
+}
+
+mavsdk_raw_bytes_handle_t mavsdk_subscribe_raw_bytes_to_be_sent(
+    mavsdk_t mavsdk,
+    mavsdk_raw_bytes_callback_t callback,
+    void* user_data
+) {
+    auto* cpp_mavsdk = reinterpret_cast<Mavsdk*>(mavsdk);
+
+    struct CallbackContext {
+        mavsdk_raw_bytes_callback_t callback;
+        void* user_data;
+    };
+
+    auto* ctx = new CallbackContext{callback, user_data};
+
+    auto handle = cpp_mavsdk->subscribe_raw_bytes_to_be_sent(
+        [ctx](const char* bytes, size_t length) {
+            ctx->callback(bytes, length, ctx->user_data);
+        }
+    );
+
+    auto* result = new std::pair<Mavsdk::RawBytesHandle, CallbackContext*>(
+        std::move(handle), ctx
+    );
+    return reinterpret_cast<mavsdk_raw_bytes_handle_t>(result);
+}
+
+void mavsdk_unsubscribe_raw_bytes_to_be_sent(
+    mavsdk_t mavsdk,
+    mavsdk_raw_bytes_handle_t handle
+) {
+    auto* cpp_mavsdk = reinterpret_cast<Mavsdk*>(mavsdk);
+    auto* pair = reinterpret_cast<std::pair<Mavsdk::RawBytesHandle, CallbackContext*>*>(handle);
+
+    cpp_mavsdk->unsubscribe_raw_bytes_to_be_sent(pair->first);
+    delete pair->second;
+    delete pair;
+}
+
 // --- Timeout ---
 void mavsdk_set_timeout_s(mavsdk_t mavsdk, double timeout_s) {
     auto* cpp_mavsdk = reinterpret_cast<Mavsdk*>(mavsdk);

c/src/cmavsdk/mavsdk.h

@@ -18,6 +18,7 @@ typedef struct mavsdk_connection_handle_s *mavsdk_connection_handle_t;
 typedef struct mavsdk_connection_error_handle_s *mavsdk_connection_error_handle_t;
 typedef struct mavsdk_new_system_handle_s *mavsdk_new_system_handle_t;
 typedef struct mavsdk_intercept_json_handle_s *mavsdk_intercept_json_handle_t;
+typedef struct mavsdk_raw_bytes_handle_s *mavsdk_raw_bytes_handle_t;
 
 typedef enum {
     MAVSDK_COMPONENT_TYPE_AUTOPILOT = 0,
@@ -73,6 +74,7 @@ typedef struct {
 typedef void (*mavsdk_connection_error_callback_t)(const mavsdk_connection_error_t error, void *user_data);
 typedef void (*mavsdk_new_system_callback_t)(void *user_data);
 typedef int  (*mavsdk_intercept_json_callback_t)(const mavsdk_message_t message, void *user_data);
+typedef void (*mavsdk_raw_bytes_callback_t)(const char *bytes, size_t length, void *user_data);
 
 // ===== Configuration =====
 CMAVSDK_EXPORT mavsdk_configuration_t mavsdk_configuration_create_with_component_type(mavsdk_component_type_t type);
@@ -197,6 +199,22 @@ CMAVSDK_EXPORT void mavsdk_unsubscribe_outgoing_messages_json(
     mavsdk_intercept_json_handle_t handle
 );
 
+// ===== Raw Bytes =====
+CMAVSDK_EXPORT void mavsdk_pass_received_raw_bytes(
+    mavsdk_t mavsdk,
+    const char *bytes,
+    size_t length
+);
+CMAVSDK_EXPORT mavsdk_raw_bytes_handle_t mavsdk_subscribe_raw_bytes_to_be_sent(
+    mavsdk_t mavsdk,
+    mavsdk_raw_bytes_callback_t callback,
+    void *user_data
+);
+CMAVSDK_EXPORT void mavsdk_unsubscribe_raw_bytes_to_be_sent(
+    mavsdk_t mavsdk,
+    mavsdk_raw_bytes_handle_t handle
+);
+
 // ===== Memory Management Helpers =====
 CMAVSDK_EXPORT void mavsdk_free_connection_error(
     mavsdk_connection_error_t *error

py/mavsdk/mavsdk/mavsdk.py

@@ -14,6 +14,7 @@
 from .types import (
     ConnectionResultWithHandle,
     NewSystemCallback,
+    RawBytesCallback,
 )
 
 
@@ -183,6 +184,32 @@ def server_component_by_id(self, component_id: int):
             return ServerComponent(self._lib, handle)
         return None
 
+    def pass_received_raw_bytes(self, data: bytes):
+        """Pass received raw MAVLink bytes into MAVSDK for processing.
+        Requires a 'raw://' connection."""
+        self._lib.mavsdk_pass_received_raw_bytes(self._handle, data, len(data))
+
+    def subscribe_raw_bytes_to_be_sent(self, callback: Callable[[bytes], None]):
+        """Subscribe to raw bytes to be sent out.
+        Requires a 'raw://' connection.
+        Returns a handle for unsubscribing."""
+
+        def _wrapper(bytes_ptr, length, user_data):
+            data = ctypes.string_at(bytes_ptr, length)
+            callback(data)
+
+        c_callback = RawBytesCallback(_wrapper)
+        handle = self._lib.mavsdk_subscribe_raw_bytes_to_be_sent(
+            self._handle, c_callback, None
+        )
+        self._callbacks[handle] = c_callback
+        return handle
+
+    def unsubscribe_raw_bytes_to_be_sent(self, handle):
+        """Unsubscribe from raw bytes to be sent."""
+        self._lib.mavsdk_unsubscribe_raw_bytes_to_be_sent(self._handle, handle)
+        self._callbacks.pop(handle, None)
+
     def destroy(self):
         """Destroy the Mavsdk instance"""
         if not self._destroyed and self._handle:
@@ -299,3 +326,24 @@ def __del__(self):
     ctypes.c_void_p,
 ]
 _cmavsdk_lib.mavsdk_unsubscribe_on_new_system.restype = None
+
+# Raw bytes functions
+_cmavsdk_lib.mavsdk_pass_received_raw_bytes.argtypes = [
+    ctypes.c_void_p,
+    ctypes.c_char_p,
+    ctypes.c_size_t,
+]
+_cmavsdk_lib.mavsdk_pass_received_raw_bytes.restype = None
+
+_cmavsdk_lib.mavsdk_subscribe_raw_bytes_to_be_sent.argtypes = [
+    ctypes.c_void_p,
+    RawBytesCallback,
+    ctypes.c_void_p,
+]
+_cmavsdk_lib.mavsdk_subscribe_raw_bytes_to_be_sent.restype = ctypes.c_void_p
+
+_cmavsdk_lib.mavsdk_unsubscribe_raw_bytes_to_be_sent.argtypes = [
+    ctypes.c_void_p,
+    ctypes.c_void_p,
+]
+_cmavsdk_lib.mavsdk_unsubscribe_raw_bytes_to_be_sent.restype = None

py/mavsdk/mavsdk/types.py

@@ -43,6 +43,10 @@ class ConnectionResultWithHandle(ctypes.Structure):
 
 InterceptJsonCallback = ctypes.CFUNCTYPE(ctypes.c_int, MavsdkMessage, ctypes.c_void_p)
 
+RawBytesCallback = ctypes.CFUNCTYPE(
+    None, ctypes.c_char_p, ctypes.c_size_t, ctypes.c_void_p
+)
+
 ComponentDiscoveredCallback = ctypes.CFUNCTYPE(
     None,
     ctypes.c_int,  # mavsdk_component_type_t