MessageIntervalManager.h

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#pragma once
 
#include <utility>
 
#include <QtCore/QHash>
#include <QtCore/QMultiHash>
#include <QtCore/QObject>
 
#include "VehicleTypes.h"
 
class MavCommandQueue;
class RequestMessageCoordinator;
class Vehicle;
 
 
class MessageIntervalManager : public QObject, public VehicleTypes
{
    Q_OBJECT
 
public:
    MessageIntervalManager(Vehicle* vehicle, MavCommandQueue* commandQueue, RequestMessageCoordinator* reqMsgCoord);
 
    int32_t getMessageRate(uint8_t compId, uint16_t msgId);
 
    void setMessageRate(uint8_t compId, uint16_t msgId, int32_t rate);
 
    void handleMessageInterval(const mavlink_message_t& message);
 
signals:
    void mavlinkMsgIntervalsChanged(uint8_t compid, uint16_t msgId, int32_t rate);
 
private:
    using MavCompMsgId = std::pair<uint8_t /* compId */, uint16_t /* msgId */>;
 
    static void _requestMessageIntervalResultHandler(void* resultHandlerData, MAV_RESULT result, RequestMessageResultHandlerFailureCode_t failureCode, const mavlink_message_t& message);
    static void _setMessageRateCommandResultHandler(void* resultHandlerData, int compId, const mavlink_command_ack_t& ack, MavCmdResultFailureCode_t failureCode);
 
    void _requestMessageInterval(uint8_t compId, uint16_t msgId);
 
    Vehicle*                    _vehicle      = nullptr;
    MavCommandQueue*            _commandQueue = nullptr;
    RequestMessageCoordinator*  _reqMsgCoord  = nullptr;
 
    QHash<MavCompMsgId, int32_t>   _mavlinkMsgIntervals;
    QMultiHash<uint8_t, uint16_t>  _unsupportedMessageIds;
};