mavlink_parameters.h

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#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();

    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:
    bool send_one();

    bool send_params();

    bool send_uavcan();

    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;
    };

    void request_next_uavcan_parameter();

    void enque_uavcan_request(uavcan_parameter_request_s *req);

    void dequeue_uavcan_request();

    _uavcan_open_request_list_item *_uavcan_open_request_list; 
    bool _uavcan_waiting_for_request_response; 
    uint16_t _uavcan_queued_request_items;  

    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;
};