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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;
#include "mavlink_main.h"
class MavlinkStream
{
public:
MavlinkStream *next;
MavlinkStream();
virtual ~MavlinkStream();
void set_interval(const unsigned int interval);
void set_channel(mavlink_channel_t channel);
/**
* @return 0 if updated / sent, -1 if unchanged
*/
int update(const hrt_abstime t);
static MavlinkStream *new_instance();
static const char *get_name_static();
virtual void subscribe(Mavlink *mavlink) = 0;
virtual const char *get_name() const = 0;
protected:
mavlink_channel_t _channel;
unsigned int _interval;
virtual void send(const hrt_abstime t) = 0;
private:
hrt_abstime _last_sent;
};
#endif /* MAVLINK_STREAM_H_ */