MSP Parser & Forwarder

This repository contains a MSP (MultiWii Serial Protocol) parser and command executor system. The code demonstrates how to:

1. Parse MSP messages received from a flight controller (or other MSP-speaking device).
2. Dispatch these messages to one or more executors that handle specific commands (e.g., STATUS, ATTITUDE, RC).
3. Chain multiple executors for a single command (e.g., for RC messages, print to console and forward over UDP).

Features

• SOLID-oriented design:

  • Single Responsibility Principle: Each class handles one core concern (e.g., parsing, dispatching, or executing a single command).
  • Open/Closed Principle: Easily add new commands or executors without modifying existing classes.
  • Liskov Substitution Principle: Different input sources (UDP, file) can be swapped with each other seamlessly.
  • Interface Segregation Principle: Small, focused interfaces (e.g., IInputSource, IMspMessageHandler, IMspCommandExecutor).
  • Dependency Inversion Principle: High-level logic depends on abstractions rather than concrete implementations.

• Input Sources:

  • UDP: Listens on a user-specified UDP port.
  • File: Reads MSP bytes from a file for testing or replay.

• Command Executors:

  • STATUS (MSP 101): Updates the armed state.
  • ATTITUDE (MSP 108): Updates roll, pitch, and heading.
  • FC_VARIANT (MSP 102): Updates the flight controller identifier.
  • RC (MSP 105):
    1. Prints channel data to the console.
    2. Forwards channel data over UDP to alink_drone.