Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Frsky_MAVlite.h"
       4             : #include "AP_Frsky_Telem.h"
       5             : #include "AP_Frsky_MAVlite_Message.h"
       6             : 
       7             : #if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
       8             : 
       9             : class AP_Frsky_MAVliteMsgHandler {
      10             : public:
      11             : 
      12             :     FUNCTOR_TYPEDEF(send_mavlite_fn_t, bool, const AP_Frsky_MAVlite_Message &);
      13           3 :     AP_Frsky_MAVliteMsgHandler(send_mavlite_fn_t send_fn) :
      14           3 :         _send_fn(send_fn) {}
      15             : 
      16             :     void process_message(const AP_Frsky_MAVlite_Message &rxmsg);
      17             : 
      18             : private:
      19             :     // mavlite messages tx/rx methods
      20             :     bool send_message(AP_Frsky_MAVlite_Message &txmsg);
      21             : 
      22             :     // gcs mavlite methods
      23             :     void handle_param_request_read(const AP_Frsky_MAVlite_Message &rxmsg);
      24             :     void handle_param_set(const AP_Frsky_MAVlite_Message &rxmsg);
      25             : 
      26             :     void handle_command_long(const AP_Frsky_MAVlite_Message &rxmsg);
      27             : 
      28             :     MAV_RESULT handle_command(const mavlink_command_long_t &mav_command_long);
      29             :     MAV_RESULT handle_command_preflight_calibration_baro(const mavlink_command_long_t &mav_command_long);
      30             :     MAV_RESULT handle_command_do_set_mode(const mavlink_command_long_t &mav_command_long);
      31             :     MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &mav_command_long);
      32             :     MAV_RESULT handle_command_preflight_reboot(const mavlink_command_long_t &mav_command_long);
      33             : 
      34             :     void send_command_ack(const MAV_RESULT mav_result, const uint16_t cmdid);
      35             : 
      36             :     send_mavlite_fn_t _send_fn;
      37             : };
      38             : 
      39             : #endif