mavlink_ulog.h

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#pragma once

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

#include <uORB/topics/ulog_stream.h>
#include <uORB/topics/ulog_stream_ack.h>

#include "mavlink_bridge_header.h"

class MavlinkULog
{
public:
    static void initialize();

    static MavlinkULog *try_start(int datarate, float max_rate_factor, uint8_t target_system, uint8_t target_component);

    void stop();

    int handle_update(mavlink_channel_t channel);

    void handle_ack(mavlink_logging_ack_t ack);

    void start_ack_received();

    float current_data_rate() const { return _current_rate_factor; }
    float maximum_data_rate() const { return _max_rate_factor; }

    int get_ulog_stream_fd() const { return _ulog_stream_sub; }
private:

    MavlinkULog(int datarate, float max_rate_factor, uint8_t target_system, uint8_t target_component);

    ~MavlinkULog();

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

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

    void publish_ack(uint16_t sequence);

    static px4_sem_t _lock;
    static bool _init;
    static MavlinkULog *_instance;
    static const float _rate_calculation_delta_t; 

    int _ulog_stream_sub = -1;
    orb_advert_t _ulog_stream_ack_pub = nullptr;
    uint16_t _wait_for_ack_sequence;
    uint8_t _sent_tries = 0;
    volatile bool _ack_received = false; 
    hrt_abstime _last_sent_time = 0; 
    ulog_stream_s _ulog_data;
    bool _waiting_for_initial_ack = false;
    const uint8_t _target_system;
    const uint8_t _target_component;

    const float _max_rate_factor; 
    const int _max_num_messages; 
    float _current_rate_factor; 
    int _current_num_msgs = 0;  
    hrt_abstime _next_rate_check; 

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