mavlink_parameters.h

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/**
 * @file mavlink_parameters.h
 * Mavlink parameters manager definition.
 *
 * @author Anton Babushkin <anton.babushkin@me.com>
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Beat Kueng <beat@px4.io>
 */

#pragma once

#include <parameters/param.h>

#include "mavlink_bridge_header.h"
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/uavcan_parameter_request.h>
#include <uORB/topics/uavcan_parameter_value.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>

class Mavlink;

class MavlinkParametersManager
{
public:
    explicit MavlinkParametersManager(Mavlink *mavlink);
    ~MavlinkParametersManager() = default;

    /**
     * Handle sending of messages. Call this regularly at a fixed frequency.
     * @param t current time
     */
    void send(const hrt_abstime t);

    unsigned get_size();

    void handle_message(const mavlink_message_t *msg);

private:
    int     _send_all_index{-1};

    /* do not allow top copying this class */
    MavlinkParametersManager(MavlinkParametersManager &);
    MavlinkParametersManager &operator = (const MavlinkParametersManager &);

protected:
    /// send a single param if a PARAM_REQUEST_LIST is in progress
    /// @return true if a parameter was sent
    bool send_one();

    /**
     * Handle any open param send transfer
     */
    bool send_params();

    /**
     * Send UAVCAN params
     */
    bool send_uavcan();

    /**
     * Send untransmitted params
     */
    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;
    };

    /**
     * Request the next uavcan parameter
     */
    void request_next_uavcan_parameter();

    /**
     * Enqueue one uavcan parameter reqest. We store 10 at max.
     */
    void enque_uavcan_request(uavcan_parameter_request_s *req);

    /**
     * Drop the first reqest from the list
     */
    void dequeue_uavcan_request();

    _uavcan_open_request_list_item *_uavcan_open_request_list{nullptr}; ///< Pointer to the first item in the linked list
    bool _uavcan_waiting_for_request_response{false}; ///< We have reqested a parameter and wait for the response
    uint16_t _uavcan_queued_request_items{0};   ///< Number of stored parameter requests currently in the list

    uORB::Publication<rc_parameter_map_s>   _rc_param_map_pub{ORB_ID(rc_parameter_map)};
    rc_parameter_map_s _rc_param_map{};

    uORB::PublicationQueued<uavcan_parameter_request_s> _uavcan_parameter_request_pub{ORB_ID(uavcan_parameter_request)};

    uORB::Subscription _uavcan_parameter_value_sub{ORB_ID(uavcan_parameter_value)};

    uORB::Subscription _mavlink_parameter_sub{ORB_ID(parameter_update)};
    hrt_abstime _param_update_time{0};
    int _param_update_index{0};

    Mavlink *_mavlink;
};