mavlink_high_latency2.h

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#pragma once

#include "mavlink_main.h"
#include "mavlink_messages.h"
#include "mavlink_simple_analyzer.h"
#include "mavlink_stream.h"

class MavlinkStreamHighLatency2 : public MavlinkStream
{
public:
    const char *get_name() const
    {
        return MavlinkStreamHighLatency2::get_name_static();
    }

    static const char *get_name_static()
    {
        return "HIGH_LATENCY2";
    }

    static uint16_t get_id_static()
    {
        return MAVLINK_MSG_ID_HIGH_LATENCY2;
    }

    uint16_t get_id()
    {
        return get_id_static();
    }

    static MavlinkStream *new_instance(Mavlink *mavlink)
    {
        return new MavlinkStreamHighLatency2(mavlink);
    }

    unsigned get_size()
    {
        return MAVLINK_MSG_ID_HIGH_LATENCY2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
    }

    bool const_rate()
    {
        return true;
    }

private:
    MavlinkOrbSubscription *_actuator_sub_0;
    uint64_t _actuator_time_0;

    MavlinkOrbSubscription *_actuator_sub_1;
    uint64_t _actuator_time_1;

    MavlinkOrbSubscription *_airspeed_sub;
    uint64_t _airspeed_time;

    MavlinkOrbSubscription *_attitude_sp_sub;
    uint64_t _attitude_sp_time;

    MavlinkOrbSubscription *_battery_sub;
    uint64_t _battery_time;

    MavlinkOrbSubscription *_estimator_status_sub;
    uint64_t _estimator_status_time;

    MavlinkOrbSubscription *_pos_ctrl_status_sub;
    uint64_t _pos_ctrl_status_time;

    MavlinkOrbSubscription *_geofence_sub;
    uint64_t _geofence_time;

    MavlinkOrbSubscription *_global_pos_sub;
    uint64_t _global_pos_time;

    MavlinkOrbSubscription *_gps_sub;
    uint64_t _gps_time;

    MavlinkOrbSubscription *_mission_result_sub;
    uint64_t _mission_result_time;

    MavlinkOrbSubscription *_status_sub;
    uint64_t _status_time;

    MavlinkOrbSubscription *_status_flags_sub;
    uint64_t _status_flags_time;

    MavlinkOrbSubscription *_tecs_status_sub;
    uint64_t _tecs_time;

    MavlinkOrbSubscription *_wind_sub;
    uint64_t _wind_time;

    SimpleAnalyzer _airspeed;
    SimpleAnalyzer _airspeed_sp;
    SimpleAnalyzer _battery;
    SimpleAnalyzer _climb_rate;
    SimpleAnalyzer _eph;
    SimpleAnalyzer _epv;
    SimpleAnalyzer _groundspeed;
    SimpleAnalyzer _temperature;
    SimpleAnalyzer _throttle;
    SimpleAnalyzer _windspeed;

    hrt_abstime _last_reset_time = 0;
    hrt_abstime _last_update_time = 0;
    float _update_rate_filtered = 0.0f;

    /* do not allow top copying this class */
    MavlinkStreamHighLatency2(MavlinkStreamHighLatency2 &);
    MavlinkStreamHighLatency2 &operator = (const MavlinkStreamHighLatency2 &);

protected:
    explicit MavlinkStreamHighLatency2(Mavlink *mavlink);

    bool send(const hrt_abstime t);

    void reset_analysers(const hrt_abstime t);

    bool write_airspeed(mavlink_high_latency2_t *msg);

    bool write_attitude_sp(mavlink_high_latency2_t *msg);

    bool write_battery_status(mavlink_high_latency2_t *msg);

    bool write_estimator_status(mavlink_high_latency2_t *msg);

    bool write_fw_ctrl_status(mavlink_high_latency2_t *msg);

    bool write_geofence_result(mavlink_high_latency2_t *msg);

    bool write_global_position(mavlink_high_latency2_t *msg);

    bool write_mission_result(mavlink_high_latency2_t *msg);

    bool write_tecs_status(mavlink_high_latency2_t *msg);

    bool write_vehicle_status(mavlink_high_latency2_t *msg);

    bool write_vehicle_status_flags(mavlink_high_latency2_t *msg);

    bool write_wind_estimate(mavlink_high_latency2_t *msg);

    void update_data();

    void update_airspeed();

    void update_tecs_status();

    void update_battery_status();

    void update_global_position();

    void update_gps();

    void update_vehicle_status();

    void update_wind_estimate();

    void set_default_values(mavlink_high_latency2_t &msg) const;
};