mavlink_high_latency2.h

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file mavlink_high_latency2.h
 *
 * @author Achermann Florian <acfloria@ethz.ch>
 */

#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:

    struct PerBatteryData {
        PerBatteryData() {}
        MavlinkOrbSubscription *subscription{nullptr};
        SimpleAnalyzer analyzer{SimpleAnalyzer::AVERAGE};
        uint64_t timestamp{0};
        bool connected{false};
    };

    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 *_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 _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;

    PerBatteryData _batteries[ORB_MULTI_MAX_INSTANCES];

    /* 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;
};