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/*
* mavlink_stream.cpp
*
* Created on: 24.02.2014
* Author: ton
*/
#include <stdlib.h>
#include "mavlink_stream.h"
#include "mavlink_main.h"
MavlinkStream::MavlinkStream(Mavlink *mavlink, void (*callback)(const MavlinkStream *), const unsigned int subs_n, const struct orb_metadata **topics, 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->subscriptions_n = subs_n;
this->subscriptions = (MavlinkOrbSubscription **) malloc(subs_n * sizeof(MavlinkOrbSubscription *));
for (int i = 0; i < subs_n; i++) {
this->subscriptions[i] = mavlink->add_orb_subscription(topics[i], sizes[i]);
}
}
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;
}
}
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