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*
* 1. Redistributions of source code must retain the above copyright
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/**
* @file mavlink_stream.h
* Mavlink messages stream definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_STREAM_H_
#define MAVLINK_STREAM_H_
#include <drivers/drv_hrt.h>
class Mavlink;
class MavlinkStream;
class MavlinkStream
{
public:
MavlinkStream *next;
MavlinkStream(Mavlink *mavlink);
virtual ~MavlinkStream();
/**
* Get the interval
*
* @param interval the inveral in microseconds (us) between messages
*/
void set_interval(const unsigned int interval);
/**
* Get the interval
*
* @return the inveral in microseconds (us) between messages
*/
unsigned get_interval() { return _interval; }
/**
* @return 0 if updated / sent, -1 if unchanged
*/
int update(const hrt_abstime t);
static MavlinkStream *new_instance(const Mavlink *mavlink);
static const char *get_name_static();
virtual const char *get_name() const = 0;
virtual uint8_t get_id() = 0;
/**
* @return true if steam rate shouldn't be adjusted
*/
virtual bool const_rate() { return false; }
/**
* Get maximal total messages size on update
*/
virtual unsigned get_size() = 0;
protected:
Mavlink * _mavlink;
unsigned int _interval;
virtual void send(const hrt_abstime t) = 0;
private:
hrt_abstime _last_sent;
/* do not allow top copying this class */
MavlinkStream(const MavlinkStream&);
MavlinkStream& operator=(const MavlinkStream&);
};
#endif /* MAVLINK_STREAM_H_ */
