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35 lines
664 B
C++
35 lines
664 B
C++
#ifndef HEART_H
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#define HEART_H
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/*
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* heart
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*
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* Periodically send mavlink heartbeats to our upstream connection
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*
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*/
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#include "mavlink_message_handler.h"
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#include "mavlink_writer.h"
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class Heart : public MAVLink_Message_Handler
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{
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public:
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Heart(MAVLink_Writer *mavlink_writer)
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: MAVLink_Message_Handler(), _mavlink_writer(mavlink_writer), last_heartbeat_time(0),
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heartbeat_interval(5000000) // microseconds
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{
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}
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void idle_10Hz();
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bool configure(INIReader *config);
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private:
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MAVLink_Writer *_mavlink_writer = NULL;
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uint64_t last_heartbeat_time;
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const uint32_t heartbeat_interval;
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void beat();
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};
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#endif
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