Inheritance diagram for MessageIntervalManager:

Collaboration diagram for MessageIntervalManager:

Signals
void	mavlinkMsgIntervalsChanged (uint8_t compid, uint16_t msgId, int32_t rate)

Public Member Functions
	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)

Additional Inherited Members
Public Types inherited from VehicleTypes
enum	MavCmdResultFailureCode_t { MavCmdResultCommandResultOnly , MavCmdResultFailureNoResponseToCommand , MavCmdResultFailureDuplicateCommand }

enum	RequestMessageResultHandlerFailureCode_t { RequestMessageNoFailure , RequestMessageFailureCommandError , RequestMessageFailureCommandNotAcked , RequestMessageFailureMessageNotReceived , RequestMessageFailureDuplicate }

typedef void(*	MavCmdProgressHandler) (void *progressHandlerData, int compId, const mavlink_command_ack_t &ack)
	Callback for sendMavCommandWithHandler which handles MAV_RESULT_IN_PROGRESS acks.

typedef void(*	MavCmdResultHandler) (void *resultHandlerData, int compId, const mavlink_command_ack_t &ack, MavCmdResultFailureCode_t failureCode)
	Callback for sendMavCommandWithHandler which handles all non-IN_PROGRESS acks.

typedef struct VehicleTypes::MavCmdAckHandlerInfo_s	MavCmdAckHandlerInfo_t
	Callback info bundle for sendMavCommandWithHandler.

typedef void(*	RequestMessageResultHandler) (void *resultHandlerData, MAV_RESULT commandResult, RequestMessageResultHandlerFailureCode_t failureCode, const mavlink_message_t &message)
	Callback for requestMessage — delivered when the ack/message pair resolves or a failure occurs.

Static Public Attributes inherited from VehicleTypes
static const int	versionNotSetValue = -1

Detailed Description

Tracks per-component MAVLink message intervals and mediates SET_MESSAGE_INTERVAL commands plus MESSAGE_INTERVAL request/response flows.

Layers on top of MavCommandQueue (for SET_MESSAGE_INTERVAL) and RequestMessageCoordinator (for MESSAGE_INTERVAL queries).

Definition at line 20 of file MessageIntervalManager.h.

Constructor & Destructor Documentation

MessageIntervalManager::MessageIntervalManager	(	Vehicle *	vehicle,
		MavCommandQueue *	commandQueue,
		RequestMessageCoordinator *	reqMsgCoord
	)

Definition at line 32 of file MessageIntervalManager.cc.

int32_t MessageIntervalManager::getMessageRate	(	uint8_t	compId,
		uint16_t	msgId
	)

Returns the last-known rate (Hz) for (compId, msgId). If unknown, issues an asynchronous MESSAGE_INTERVAL request and returns 0.

Definition at line 82 of file MessageIntervalManager.cc.

void MessageIntervalManager::handleMessageInterval ( const mavlink_message_t & message )

Decode a MESSAGE_INTERVAL message and update the cache, emitting a change signal if the rate changed.

Definition at line 40 of file MessageIntervalManager.cc.

void MessageIntervalManager::mavlinkMsgIntervalsChanged	(	uint8_t	compid,
		uint16_t	msgId,
		int32_t	rate
	)

signal

void MessageIntervalManager::setMessageRate	(	uint8_t	compId,
		uint16_t	msgId,
		int32_t	rate
	)

Sends MAV_CMD_SET_MESSAGE_INTERVAL to update the rate for the given message id, then requests MESSAGE_INTERVAL on ack to confirm the new rate.

Definition at line 107 of file MessageIntervalManager.cc.

The documentation for this class was generated from the following files: