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Diffstat (limited to 'src/modules/mavlink/mavlink_stream.h')
-rw-r--r-- | src/modules/mavlink/mavlink_stream.h | 83 |
1 files changed, 83 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h new file mode 100644 index 000000000..69809a386 --- /dev/null +++ b/src/modules/mavlink/mavlink_stream.h @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * 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.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; + virtual uint8_t get_id() = 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_ */ |