input_mavlink.h

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#pragma once

#include "input.h"
#include "input_rc.h"
#include <cstdint>

#include <uORB/topics/vehicle_roi.h>
#include <uORB/topics/vehicle_command.h>

namespace vmount
{


class InputMavlinkROI : public InputBase
{
public:
    InputMavlinkROI() = default;
    virtual ~InputMavlinkROI();

    virtual void print_status();

protected:
    virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
    virtual int initialize();

private:
    void _read_control_data_from_position_setpoint_sub();

    int _vehicle_roi_sub = -1;
    int _position_setpoint_triplet_sub = -1;
    uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE;
};


class InputMavlinkCmdMount : public InputBase
{
public:
    InputMavlinkCmdMount(bool stabilize);
    virtual ~InputMavlinkCmdMount();

    virtual void print_status();

protected:
    virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
    virtual int initialize();

private:
    void _ack_vehicle_command(vehicle_command_s *cmd);

    int _vehicle_command_sub = -1;
    orb_advert_t _vehicle_command_ack_pub = nullptr;
    bool _stabilize[3] = { false, false, false };

    int32_t _mav_sys_id{1}; 
    int32_t _mav_comp_id{1}; 
};


} /* namespace vmount */