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/****************************************************************************
*
* Copyright (c) 2012-2018 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>
* @author Lorenz Meier <lorenz@px4.io>
* @author Beat Kueng <beat@px4.io>
*/
#pragma once
#include <parameters/param.h>
#include "mavlink_bridge_header.h"
#include <uORB/uORB.h>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/uavcan_parameter_request.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
class Mavlink;
class MavlinkParametersManager
{
public:
explicit MavlinkParametersManager(Mavlink *mavlink);
~MavlinkParametersManager();
/**
* Handle sending of messages. Call this regularly at a fixed frequency.
* @param t current time
*/
void send(const hrt_abstime t);
unsigned get_size();
void handle_message(const mavlink_message_t *msg);
private:
int _send_all_index;
/* do not allow top copying this class */
MavlinkParametersManager(MavlinkParametersManager &);
MavlinkParametersManager &operator = (const MavlinkParametersManager &);
protected:
/// send a single param if a PARAM_REQUEST_LIST is in progress
/// @return true if a parameter was sent
bool send_one();
/**
* Handle any open param send transfer
*/
bool send_params();
/**
* Send UAVCAN params
*/
bool send_uavcan();
/**
* Send untransmitted params
*/
bool send_untransmitted();
int send_param(param_t param, int component_id = -1);
// Item of a single-linked list to store requested uavcan parameters
struct _uavcan_open_request_list_item {
uavcan_parameter_request_s req;
struct _uavcan_open_request_list_item *next;
};
/**
* Request the next uavcan parameter
*/
void request_next_uavcan_parameter();
/**
* Enqueue one uavcan parameter reqest. We store 10 at max.
*/
void enque_uavcan_request(uavcan_parameter_request_s *req);
/**
* Drop the first reqest from the list
*/
void dequeue_uavcan_request();
_uavcan_open_request_list_item *_uavcan_open_request_list; ///< Pointer to the first item in the linked list
bool _uavcan_waiting_for_request_response; ///< We have reqested a parameter and wait for the response
uint16_t _uavcan_queued_request_items; ///< Number of stored parameter requests currently in the list
orb_advert_t _rc_param_map_pub;
struct rc_parameter_map_s _rc_param_map;
orb_advert_t _uavcan_parameter_request_pub;
int _uavcan_parameter_value_sub;
int _mavlink_parameter_sub;
hrt_abstime _param_update_time;
int _param_update_index;
Mavlink *_mavlink;
};