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mavlink: use inherited classes instead of callbacks for mavlink messages formatting, fixes and cleanup

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This commit is contained in:
Anton Babushkin
2014-02-26 21:28:35 +04:00
parent 769a2af1f8
commit 7310fd6085
9 changed files with 444 additions and 362 deletions
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src/modules/mavlink/mavlink_orb_subscription.h
+11 -6
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@@ -11,18 +11,23 @@
#include <systemlib/uthash/utlist.h>
#include <drivers/drv_hrt.h>
class MavlinkOrbSubscription {
public:
MavlinkOrbSubscription(const struct orb_metadata *meta, size_t size);
MavlinkOrbSubscription *next;
MavlinkOrbSubscription(const struct orb_metadata *topic, size_t size);
~MavlinkOrbSubscription();
bool update(const hrt_abstime t);
void *get_data();
const struct orb_metadata *get_topic();
const struct orb_metadata *topic;
int fd;
void *data;
hrt_abstime last_update;
MavlinkOrbSubscription *next;
private:
const struct orb_metadata *_topic;
int _fd;
void *_data;
hrt_abstime _last_check;
};