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/****************************************************************************
*
* Copyright (c) 2012-2014 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_parameters.h
* Mavlink parameters manager definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#pragma once
#include <systemlib/param/param.h>
#include "mavlink_bridge_header.h"
#include "mavlink_stream.h"
class MavlinkParametersManager : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkParametersManager::get_name_static();
}
static const char *get_name_static()
{
return "PARAM_VALUE";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_PARAM_VALUE;
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkParametersManager(mavlink);
}
unsigned get_size();
void handle_message(const mavlink_message_t *msg);
/**
* Send one parameter identified by index.
*
* @param index The index of the parameter to send.
* @return zero on success, nonzero else.
*/
void start_send_one(int index);
/**
* Send one parameter identified by name.
*
* @param name The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int start_send_for_name(const char *name);
/**
* Start sending the parameter queue.
*
* This function will not directly send parameters, but instead
* activate the sending of one parameter on each call of
* mavlink_pm_queued_send().
* @see mavlink_pm_queued_send()
*/
void start_send_all();
private:
int _send_all_index;
/* do not allow top copying this class */
MavlinkParametersManager(MavlinkParametersManager &);
MavlinkParametersManager& operator = (const MavlinkParametersManager &);
protected:
explicit MavlinkParametersManager(Mavlink *mavlink);
void send(const hrt_abstime t);
void send_param(param_t param);
};
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