mavlink_stream.h
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/****************************************************************************
*
* Copyright (c) 2014-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_stream.h
* Mavlink messages stream definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_STREAM_H_
#define MAVLINK_STREAM_H_
#include <drivers/drv_hrt.h>
#include <px4_platform_common/module_params.h>
#include <containers/List.hpp>
class Mavlink;
class MavlinkStream : public ListNode<MavlinkStream *>
{
public:
MavlinkStream(Mavlink *mavlink);
virtual ~MavlinkStream() = default;
// no copy, assignment, move, move assignment
MavlinkStream(const MavlinkStream &) = delete;
MavlinkStream &operator=(const MavlinkStream &) = delete;
MavlinkStream(MavlinkStream &&) = delete;
MavlinkStream &operator=(MavlinkStream &&) = delete;
/**
* Get the interval
*
* @param interval the interval in microseconds (us) between messages
*/
void set_interval(const int interval) { _interval = interval; }
/**
* Get the interval
*
* @return the inveral in microseconds (us) between messages
*/
int get_interval() { return _interval; }
/**
* @return 0 if updated / sent, -1 if unchanged
*/
int update(const hrt_abstime &t);
virtual const char *get_name() const = 0;
virtual uint16_t get_id() = 0;
/**
* @return true if steam rate shouldn't be adjusted
*/
virtual bool const_rate() { return false; }
/**
* Get maximal total messages size on update
*/
virtual unsigned get_size() = 0;
/**
* This function is called in response to a MAV_CMD_REQUEST_MESSAGE command.
*/
virtual bool request_message(float param2 = 0.0, float param3 = 0.0, float param4 = 0.0,
float param5 = 0.0, float param6 = 0.0, float param7 = 0.0)
{
return send();
}
/**
* Get the average message size
*
* For a normal stream this equals the message size,
* for something like a parameter or mission message
* this equals usually zero, as no bandwidth
* needs to be reserved
*/
virtual unsigned get_size_avg() { return get_size(); }
/**
* @return true if the first message of this stream has been sent
*/
bool first_message_sent() const { return _first_message_sent; }
/**
* Reset the time of last sent to 0. Can be used if a message over this
* stream needs to be sent immediately.
*/
void reset_last_sent() { _last_sent = 0; }
protected:
Mavlink *const _mavlink;
int _interval{1000000}; ///< if set to negative value = unlimited rate
virtual bool send() = 0;
/**
* Function to collect/update data for the streams at a high rate independant of
* actual stream rate.
*
* This function is called at every iteration of the mavlink module.
*/
virtual void update_data() { }
private:
hrt_abstime _last_sent{0};
bool _first_message_sent{false};
};
#endif /* MAVLINK_STREAM_H_ */