mavlink_diag.h

Go to the documentation of this file.

/*
 * Copyright 2014 Vladimir Ermakov.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#pragma once

#include <diagnostic_updater/diagnostic_updater.h>
#include <mavconn/interface.h>

namespace mavros {
class MavlinkDiag : public diagnostic_updater::DiagnosticTask
{
public:
        explicit MavlinkDiag(std::string name);

        void run(diagnostic_updater::DiagnosticStatusWrapper &stat);

        void set_mavconn(const mavconn::MAVConnInterface::Ptr &link) {
                weak_link = link;
        }

        void set_connection_status(bool connected) {
                is_connected = connected;
        }

private:
        mavconn::MAVConnInterface::WeakPtr weak_link;
        unsigned int last_drop_count;
        std::atomic<bool> is_connected;
};
};      // namespace mavros