mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 13:47:35 +08:00
Hamish Willee
146 lines
4.4 KiB
C++
146 lines
4.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014-2017 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_stream.h
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* Mavlink messages stream definition.
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#ifndef MAVLINK_STREAM_H_
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#define MAVLINK_STREAM_H_
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/module_params.h>
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#include <containers/List.hpp>
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class Mavlink;
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class MavlinkStream : public ListNode<MavlinkStream *>
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{
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public:
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MavlinkStream(Mavlink *mavlink);
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virtual ~MavlinkStream() = default;
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// no copy, assignment, move, move assignment
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MavlinkStream(const MavlinkStream &) = delete;
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MavlinkStream &operator=(const MavlinkStream &) = delete;
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MavlinkStream(MavlinkStream &&) = delete;
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MavlinkStream &operator=(MavlinkStream &&) = delete;
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/**
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* Get the interval
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*
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* @param interval the interval in microseconds (us) between messages
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*/
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void set_interval(const int interval) { _interval = interval; }
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/**
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* Get the interval
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*
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* @return the inveral in microseconds (us) between messages
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*/
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int get_interval() { return _interval; }
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/**
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* @return 0 if updated / sent, -1 if unchanged
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*/
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int update(const hrt_abstime &t);
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virtual const char *get_name() const = 0;
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virtual uint16_t get_id() = 0;
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/**
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* @return true if steam rate shouldn't be adjusted
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*/
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virtual bool const_rate() { return false; }
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/**
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* Get maximal total messages size on update
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*/
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virtual unsigned get_size() = 0;
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/**
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* This function is called in response to a MAV_CMD_REQUEST_MESSAGE command.
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*/
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virtual bool request_message(float param2 = 0.0, float param3 = 0.0, float param4 = 0.0,
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float param5 = 0.0, float param6 = 0.0, float param7 = 0.0)
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{
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return send();
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}
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/**
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* Get the average message size
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*
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* For a normal stream this equals the message size,
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* for something like a parameter or mission message
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* this equals usually zero, as no bandwidth
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* needs to be reserved
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*/
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virtual unsigned get_size_avg() { return get_size(); }
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/**
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* @return true if the first message of this stream has been sent
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*/
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bool first_message_sent() const { return _first_message_sent; }
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/**
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* Reset the time of last sent to 0. Can be used if a message over this
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* stream needs to be sent immediately.
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*/
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void reset_last_sent() { _last_sent = 0; }
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protected:
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Mavlink *const _mavlink;
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int _interval{1000000}; ///< if set to negative value = unlimited rate
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virtual bool send() = 0;
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/**
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* Function to collect/update data for the streams at a high rate independent of
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* actual stream rate.
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*
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* This function is called at every iteration of the mavlink module.
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*/
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virtual void update_data() { }
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private:
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hrt_abstime _last_sent{0};
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bool _first_message_sent{false};
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};
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#endif /* MAVLINK_STREAM_H_ */
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