blob: 9f175adbe563c1a0d7080bf5bdf779b0d68c98e8 (
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
|
/*
* mavlink_stream.h
*
* Created on: 24.02.2014
* Author: ton
*/
#ifndef MAVLINK_STREAM_H_
#define MAVLINK_STREAM_H_
#include <drivers/drv_hrt.h>
class Mavlink;
class MavlinkStream;
#include "mavlink_main.h"
class MavlinkStream {
private:
hrt_abstime _last_sent;
protected:
mavlink_channel_t _channel;
unsigned int _interval;
virtual void send(const hrt_abstime t) = 0;
public:
MavlinkStream *next;
MavlinkStream();
~MavlinkStream();
void set_interval(const unsigned int interval);
void set_channel(mavlink_channel_t channel);
int update(const hrt_abstime t);
virtual MavlinkStream *new_instance() = 0;
virtual void subscribe(Mavlink *mavlink) = 0;
virtual const char *get_name() = 0;
};
#endif /* MAVLINK_STREAM_H_ */
|
