log_writer_mavlink.h

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#pragma once

#include <stdint.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/ulog_stream.h>
#include <uORB/topics/ulog_stream_ack.h>

namespace px4
{
namespace logger
{

/**
 * @class LogWriterMavlink
 * Writes logging data to uORB, and then sent via mavlink
 */
class LogWriterMavlink
{
public:
    LogWriterMavlink();
    ~LogWriterMavlink();

    bool init();

    void start_log();

    void stop_log();

    bool is_started() const { return _is_started; }

    /** @see LogWriter::write_message() */
    int write_message(void *ptr, size_t size);

    void set_need_reliable_transfer(bool need_reliable);

    bool need_reliable_transfer() const
    {
        return _need_reliable_transfer;
    }

private:

    /** publish message, wait for ack if needed & reset message */
    int publish_message();

    ulog_stream_s _ulog_stream_data{};
    uORB::PublicationQueued<ulog_stream_s> _ulog_stream_pub{ORB_ID(ulog_stream)};
    int _ulog_stream_ack_sub{-1};
    bool _need_reliable_transfer{false};
    bool _is_started{false};
};

}
}