mavlink_stream.h

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#ifndef MAVLINK_STREAM_H_
#define MAVLINK_STREAM_H_

#include <drivers/drv_hrt.h>
#include <px4_module_params.h>
#include <containers/List.hpp>

class Mavlink;

class MavlinkStream : public ListNode<MavlinkStream *>
{

public:

    MavlinkStream(Mavlink *mavlink);
    virtual ~MavlinkStream() = default;

    // no copy, assignment, move, move assignment
    MavlinkStream(const MavlinkStream &) = delete;
    MavlinkStream &operator=(const MavlinkStream &) = delete;
    MavlinkStream(MavlinkStream &&) = delete;
    MavlinkStream &operator=(MavlinkStream &&) = delete;

    void set_interval(const int interval) { _interval = interval; }

    int get_interval() { return _interval; }

    int update(const hrt_abstime &t);
    virtual const char *get_name() const = 0;
    virtual uint16_t get_id() = 0;

    virtual bool const_rate() { return false; }

    virtual unsigned get_size() = 0;

    virtual unsigned get_size_avg() { return get_size(); }

    bool first_message_sent() const { return _first_message_sent; }

    void reset_last_sent() { _last_sent = 0; }

protected:
    Mavlink      *const _mavlink;
    int _interval{1000000};     

    virtual bool send(const hrt_abstime t) = 0;

    virtual void update_data() { }

private:
    hrt_abstime _last_sent{0};
    bool _first_message_sent{false};
};


#endif /* MAVLINK_STREAM_H_ */