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Diffstat (limited to 'src/modules/mavlink/mavlink_stream.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_stream.cpp | 93 |
1 files changed, 93 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp new file mode 100644 index 000000000..7279206db --- /dev/null +++ b/src/modules/mavlink/mavlink_stream.cpp @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_stream.cpp + * Mavlink messages stream implementation. + * + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#include <stdlib.h> + +#include "mavlink_stream.h" +#include "mavlink_main.h" + +MavlinkStream::MavlinkStream() : + next(nullptr), + _channel(MAVLINK_COMM_0), + _interval(1000000), + _last_sent(0) +{ +} + +MavlinkStream::~MavlinkStream() +{ +} + +/** + * Set messages interval in ms + */ +void +MavlinkStream::set_interval(const unsigned int interval) +{ + _interval = interval; +} + +/** + * Set mavlink channel + */ +void +MavlinkStream::set_channel(mavlink_channel_t channel) +{ + _channel = channel; +} + +/** + * Update subscriptions and send message if necessary + */ +int +MavlinkStream::update(const hrt_abstime t) +{ + uint64_t dt = t - _last_sent; + + if (dt > 0 && dt >= _interval) { + /* interval expired, send message */ + send(t); + _last_sent = (t / _interval) * _interval; + + return 0; + } + + return -1; +} |