mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
109 lines
3.8 KiB
C++
109 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mavlink_parameters.h
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* Mavlink parameters manager definition.
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#pragma once
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#include <systemlib/param/param.h>
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#include "mavlink_bridge_header.h"
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#include <uORB/uORB.h>
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#include <uORB/topics/rc_parameter_map.h>
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#include <uORB/topics/uavcan_parameter_request.h>
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#include <drivers/drv_hrt.h>
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class Mavlink;
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class MavlinkParametersManager
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{
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public:
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explicit MavlinkParametersManager(Mavlink *mavlink);
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~MavlinkParametersManager();
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/**
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* Handle sending of messages. Call this regularly at a fixed frequency.
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* @param t current time
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*/
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void send(const hrt_abstime t);
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unsigned get_size();
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void handle_message(const mavlink_message_t *msg);
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private:
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int _send_all_index;
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/* do not allow top copying this class */
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MavlinkParametersManager(MavlinkParametersManager &);
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MavlinkParametersManager &operator = (const MavlinkParametersManager &);
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protected:
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/// send a single param if a PARAM_REQUEST_LIST is in progress
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/// @return true if a parameter was sent
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bool send_one();
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int send_param(param_t param, int component_id = -1);
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// Item of a single-linked list to store requested uavcan parameters
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struct _uavcan_open_request_list_item {
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uavcan_parameter_request_s req;
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struct _uavcan_open_request_list_item *next;
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};
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// Request the next uavcan parameter
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void request_next_uavcan_parameter();
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// Enque one uavcan parameter reqest. We store 10 at max.
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void enque_uavcan_request(uavcan_parameter_request_s *req);
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// Drop the first reqest from the list
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void dequeue_uavcan_request();
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_uavcan_open_request_list_item *_uavcan_open_request_list; // Pointer to the first item in the linked list
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bool _uavcan_waiting_for_request_response; // We have reqested a parameter and wait for the response
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uint16_t _uavcan_queued_request_items; // Number of stored parameter requests currently in the list
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orb_advert_t _rc_param_map_pub;
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struct rc_parameter_map_s _rc_param_map;
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orb_advert_t _uavcan_parameter_request_pub;
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int _uavcan_parameter_value_sub;
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Mavlink *_mavlink;
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};
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