PX4-Autopilot/src/modules/mavlink/mavlink_high_latency2.h

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/**
 * @file mavlink_high_latency2.h
 *
 * @author Achermann Florian <acfloria@ethz.ch>
 */

#pragma once

#include "mavlink_main.h"
#include "mavlink_messages.h"
#include "mavlink_simple_analyzer.h"
#include "mavlink_stream.h"

class MavlinkStreamHighLatency2 : public MavlinkStream
{
public:
	const char *get_name() const
	{
		return MavlinkStreamHighLatency2::get_name_static();
	}

	static const char *get_name_static()
	{
		return "HIGH_LATENCY2";
	}

	static uint16_t get_id_static()
	{
		return MAVLINK_MSG_ID_HIGH_LATENCY2;
	}

	uint16_t get_id()
	{
		return get_id_static();
	}

	static MavlinkStream *new_instance(Mavlink *mavlink)
	{
		return new MavlinkStreamHighLatency2(mavlink);
	}

	unsigned get_size()
	{
		return MAVLINK_MSG_ID_HIGH_LATENCY2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
	}

	bool const_rate()
	{
		return true;
	}

private:

	struct PerBatteryData {
		PerBatteryData() {}
		MavlinkOrbSubscription *subscription;
		SimpleAnalyzer analyzer{SimpleAnalyzer::AVERAGE};
		uint64_t timestamp{0};
		bool connected{false};
	};

	MavlinkOrbSubscription *_actuator_sub_0;
	uint64_t _actuator_time_0;

	MavlinkOrbSubscription *_actuator_sub_1;
	uint64_t _actuator_time_1;

	MavlinkOrbSubscription *_airspeed_sub;
	uint64_t _airspeed_time;

	MavlinkOrbSubscription *_attitude_sp_sub;
	uint64_t _attitude_sp_time;

	MavlinkOrbSubscription *_estimator_status_sub;
	uint64_t _estimator_status_time;

	MavlinkOrbSubscription *_pos_ctrl_status_sub;
	uint64_t _pos_ctrl_status_time;

	MavlinkOrbSubscription *_geofence_sub;
	uint64_t _geofence_time;

	MavlinkOrbSubscription *_global_pos_sub;
	uint64_t _global_pos_time;

	MavlinkOrbSubscription *_gps_sub;
	uint64_t _gps_time;

	MavlinkOrbSubscription *_mission_result_sub;
	uint64_t _mission_result_time;

	MavlinkOrbSubscription *_status_sub;
	uint64_t _status_time;

	MavlinkOrbSubscription *_status_flags_sub;
	uint64_t _status_flags_time;

	MavlinkOrbSubscription *_tecs_status_sub;
	uint64_t _tecs_time;

	MavlinkOrbSubscription *_wind_sub;
	uint64_t _wind_time;

	SimpleAnalyzer _airspeed;
	SimpleAnalyzer _airspeed_sp;
	SimpleAnalyzer _climb_rate;
	SimpleAnalyzer _eph;
	SimpleAnalyzer _epv;
	SimpleAnalyzer _groundspeed;
	SimpleAnalyzer _temperature;
	SimpleAnalyzer _throttle;
	SimpleAnalyzer _windspeed;

	hrt_abstime _last_reset_time = 0;
	hrt_abstime _last_update_time = 0;
	float _update_rate_filtered = 0.0f;

	PerBatteryData _batteries[BOARD_NUMBER_BRICKS];

	/* do not allow top copying this class */
	MavlinkStreamHighLatency2(MavlinkStreamHighLatency2 &);
	MavlinkStreamHighLatency2 &operator = (const MavlinkStreamHighLatency2 &);

protected:
	explicit MavlinkStreamHighLatency2(Mavlink *mavlink);

	bool send(const hrt_abstime t);

	void reset_analysers(const hrt_abstime t);

	bool write_airspeed(mavlink_high_latency2_t *msg);

	bool write_attitude_sp(mavlink_high_latency2_t *msg);

	bool write_battery_status(mavlink_high_latency2_t *msg);

	bool write_estimator_status(mavlink_high_latency2_t *msg);

	bool write_fw_ctrl_status(mavlink_high_latency2_t *msg);

	bool write_geofence_result(mavlink_high_latency2_t *msg);

	bool write_global_position(mavlink_high_latency2_t *msg);

	bool write_mission_result(mavlink_high_latency2_t *msg);

	bool write_tecs_status(mavlink_high_latency2_t *msg);

	bool write_vehicle_status(mavlink_high_latency2_t *msg);

	bool write_vehicle_status_flags(mavlink_high_latency2_t *msg);

	bool write_wind_estimate(mavlink_high_latency2_t *msg);

	void update_data();

	void update_airspeed();

	void update_tecs_status();

	void update_battery_status();

	void update_global_position();

	void update_gps();

	void update_vehicle_status();

	void update_wind_estimate();

	void set_default_values(mavlink_high_latency2_t &msg) const;
};