mavlink_receiver.h

#pragma once

#include "mavlink_include.h"
#include "global_include.h"
#include <cstdint>

namespace mavsdk {

class MAVLinkReceiver {
public:
    explicit MAVLinkReceiver(uint8_t channel);

    uint8_t get_channel() { return _channel; }

    mavlink_message_t& get_last_message() { return _last_message; }

    mavlink_status_t& get_status() { return _status; }

    void set_new_datagram(char* datagram, unsigned datagram_len);

    bool parse_message();

#if DROP_DEBUG == 1
    void debug_drop_rate();
    void print_line(
        const char* index,
        unsigned count,
        unsigned count_total,
        unsigned overall_bytes,
        unsigned overall_bytes_total);
#endif

private:
    uint8_t _channel;
    mavlink_message_t _last_message = {};
    mavlink_status_t _status = {};
    char* _datagram = nullptr;
    unsigned _datagram_len = 0;

#if DROP_DEBUG == 1
    unsigned _bytes_received = 0;

    unsigned _bytes_sent_overall = 0;
    // unsigned _bytes_at_gimbal_overall = 0;
    unsigned _bytes_at_camera_overall = 0;
    unsigned _bytes_at_sdk_overall = 0;

    bool _first = true;
    dl_time_t _last_time;

    double _time_elapsed = 0.0;
#endif
};

} // namespace mavsdk