blob: 2a6728fdb22ac5cf5c03e5e6e7ab6459447b114c (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
|
/*
* mavlink_stream.cpp
*
* Created on: 24.02.2014
* Author: ton
*/
#include <stdlib.h>
#include "mavlink_orb_listener.h"
MavlinkStream::MavlinkStream(MavlinkOrbListener *listener, void (*callback)(const MavlinkStream *), const unsigned int subs_n, const struct orb_metadata **metas, const size_t *sizes, const uintptr_t arg, const unsigned int interval)
{
this->callback = callback;
this->arg = arg;
this->interval = interval * 1000;
this->mavlink = mavlink;
this->listener = listener;
this->subscriptions_n = subs_n;
this->subscriptions = (MavlinkOrbSubscription **) malloc(subs_n * sizeof(MavlinkOrbSubscription *));
for (int i = 0; i < subs_n; i++) {
this->subscriptions[i] = listener->add_subscription(metas[i], sizes[i], this, interval);
}
}
MavlinkStream::~MavlinkStream()
{
free(subscriptions);
}
/**
* Update mavlink stream, i.e. 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, update all subscriptions */
for (unsigned int i = 0; i < subscriptions_n; i++) {
subscriptions[i]->update(t);
}
/* format and send mavlink message */
callback(this);
last_sent = t;
}
}
|
