mavlink_channels.cpp

#include "mavlink_channels.h"

namespace mavsdk {

MAVLinkChannels::MAVLinkChannels() : _channels_used{}, _channels_used_mutex() {}

MAVLinkChannels::~MAVLinkChannels() {}

bool MAVLinkChannels::checkout_free_channel(uint8_t& new_channel)
{
    std::lock_guard<std::mutex> lock(_channels_used_mutex);

    for (unsigned i = 0; i < MAX_CHANNELS; ++i) {
        if (!_channels_used[i]) {
            _channels_used[i] = true;
            new_channel = i;
            return true;
        }
    }
    return false;
}

void MAVLinkChannels::checkin_used_channel(uint8_t used_channel)
{
    std::lock_guard<std::mutex> lock(_channels_used_mutex);

    if (used_channel >= MAX_CHANNELS) {
        return;
    }

    _channels_used[used_channel] = false;
}

} // namespace mavsdk