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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_ */