PX4-Autopilot/src/modules/mavlink/mavlink_parameters.h

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/**
 * @file mavlink_parameters.h
 * Mavlink parameters manager definition.
 *
 * @author Anton Babushkin <anton.babushkin@me.com>
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Beat Kueng <beat@px4.io>
 */

#pragma once

#include <parameters/param.h>

#include "mavlink_bridge_header.h"
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/uavcan_parameter_request.h>
#include <uORB/topics/uavcan_parameter_value.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>

using namespace time_literals;

class Mavlink;

class MavlinkParametersManager
{
public:
	explicit MavlinkParametersManager(Mavlink *mavlink);
	~MavlinkParametersManager() = default;

	/**
	 * Handle sending of messages. Call this regularly at a fixed frequency.
	 * @param t current time
	 */
	void send();

	unsigned get_size();

	void handle_message(const mavlink_message_t *msg);

private:
	int		_send_all_index{-1};

	/* do not allow top copying this class */
	MavlinkParametersManager(MavlinkParametersManager &);
	MavlinkParametersManager &operator = (const MavlinkParametersManager &);

protected:
	/// send a single param if a PARAM_REQUEST_LIST is in progress
	/// @return true if a parameter was sent
	bool send_one();

	/**
	 * Handle any open param send transfer
	 */
	bool send_params();

	/**
	 * Send UAVCAN params
	 */
	bool send_uavcan();

	/**
	 * Send untransmitted params
	 */
	bool send_untransmitted();

	int send_param(param_t param, int component_id = -1);

	// Item of a single-linked list to store requested uavcan parameters
	struct _uavcan_open_request_list_item {
		uavcan_parameter_request_s req;
		struct _uavcan_open_request_list_item *next;
	};

	/**
	 * Request the next uavcan parameter
	 */
	void request_next_uavcan_parameter();

	/**
	 * Enqueue one uavcan parameter reqest. We store 10 at max.
	 */
	void enque_uavcan_request(uavcan_parameter_request_s *req);

	/**
	 * Drop the first reqest from the list
	 */
	void dequeue_uavcan_request();

	_uavcan_open_request_list_item *_uavcan_open_request_list{nullptr}; ///< Pointer to the first item in the linked list
	bool _uavcan_waiting_for_request_response{false}; ///< We have reqested a parameter and wait for the response
	uint16_t _uavcan_queued_request_items{0};	///< Number of stored parameter requests currently in the list

	uORB::Publication<rc_parameter_map_s>	_rc_param_map_pub{ORB_ID(rc_parameter_map)};
	rc_parameter_map_s _rc_param_map{};

	uORB::Publication<uavcan_parameter_request_s> _uavcan_parameter_request_pub{ORB_ID(uavcan_parameter_request)};
	// enforce ORB_ID(uavcan_parameter_request) constants that map to MAVLINK defines
	static_assert(uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_READ == MAVLINK_MSG_ID_PARAM_REQUEST_READ,
		      "uavcan_parameter_request_s MAVLINK_MSG_ID_PARAM_REQUEST_READ constant mismatch");
	static_assert(uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_SET == MAVLINK_MSG_ID_PARAM_SET,
		      "uavcan_parameter_request_s MAVLINK_MSG_ID_PARAM_SET constant mismatch");
	static_assert(uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_LIST == MAVLINK_MSG_ID_PARAM_REQUEST_LIST,
		      "uavcan_parameter_request_s MAVLINK_MSG_ID_PARAM_REQUEST_LIST constant mismatch");
	static_assert(uavcan_parameter_request_s::NODE_ID_ALL == MAV_COMP_ID_ALL,
		      "uavcan_parameter_request_s MAV_COMP_ID_ALL constant mismatch");
	static_assert(uavcan_parameter_request_s::PARAM_TYPE_UINT8 == MAV_PARAM_TYPE_UINT8,
		      "uavcan_parameter_request_s MAV_PARAM_TYPE_UINT8 constant mismatch");
	static_assert(uavcan_parameter_request_s::PARAM_TYPE_REAL32 == MAV_PARAM_TYPE_REAL32,
		      "uavcan_parameter_request_s MAV_PARAM_TYPE_REAL32 constant mismatch");
	static_assert(uavcan_parameter_request_s::PARAM_TYPE_INT64 == MAV_PARAM_TYPE_INT64,
		      "uavcan_parameter_request_s MAV_PARAM_TYPE_INT64 constant mismatch");

	uORB::Subscription _uavcan_parameter_value_sub{ORB_ID(uavcan_parameter_value)};

	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
	hrt_abstime _param_update_time{0};
	int _param_update_index{0};

	Mavlink *_mavlink;

	bool _first_send{false};
};