mavlink_command_sender.h

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#pragma once

#include <px4_tasks.h>
#include <px4_sem.h>
#include <drivers/drv_hrt.h>

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

#include "timestamped_list.h"
#include "mavlink_bridge_header.h"
#include <v2.0/mavlink_types.h>

class MavlinkCommandSender
{
public:
    static void initialize();

    static MavlinkCommandSender &instance();

    int handle_vehicle_command(const struct vehicle_command_s &command, mavlink_channel_t channel);

    void check_timeout(mavlink_channel_t channel);

    void handle_mavlink_command_ack(const mavlink_command_ack_t &ack, uint8_t from_sysid, uint8_t from_compid);

private:
    MavlinkCommandSender() = default;

    ~MavlinkCommandSender();

    static void lock()
    {
        do {} while (px4_sem_wait(&_lock) != 0);
    }

    static void unlock()
    {
        px4_sem_post(&_lock);
    }

    static MavlinkCommandSender *_instance;
    static px4_sem_t _lock;

    // There are MAVLINK_COMM_0 to MAVLINK_COMM_3, so it should be 4.
    static const unsigned MAX_MAVLINK_CHANNEL = 4;

    typedef struct {
        mavlink_command_long_t command = {};
        hrt_abstime timestamp_us = 0;
        hrt_abstime last_time_sent_us = 0;
        int8_t num_sent_per_channel[MAX_MAVLINK_CHANNEL] = {-1, -1, -1, -1};
    } command_item_t;

    TimestampedList<command_item_t> _commands{3};

    bool _debug_enabled = false;
    static constexpr uint8_t RETRIES = 3;
    static constexpr uint64_t TIMEOUT_US = 500000;

    /* do not allow copying or assigning this class */
    MavlinkCommandSender(const MavlinkCommandSender &) = delete;
    MavlinkCommandSender operator=(const MavlinkCommandSender &) = delete;
};