X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Farducontrol.h;h=a48f6f0990aa59997b9c45bdde7778cd3506c17c;hb=25aacc9bfe66f1a2bffd196c735d3444adac6fe3;hp=4373a84f707713e6b7d80c1e927875719b6cad0a;hpb=aa48746158b19ad795a3cc656c4dfe17044baf54;p=r2c2.git

diff --git a/source/libr2c2/arducontrol.h b/source/libr2c2/arducontrol.h
index 4373a84..a48f6f0 100644
--- a/source/libr2c2/arducontrol.h
+++ b/source/libr2c2/arducontrol.h
@@ -220,18 +220,30 @@ private:
 	public:
 		void push(const T &);
 		bool pop(T &);
+		unsigned size() const;
 		bool empty() const;
 	};
 
 	class Task
 	{
 	protected:
-		Task() { }
+		std::string name;
+		unsigned priority;
+		Msp::Time::TimeStamp sleep_timeout;
+
+		Task(const std::string &, unsigned = 0);
 	public:
 		virtual ~Task() { }
 
+		const std::string &get_name() const { return name; }
+
 		virtual bool get_work(PendingCommand &) = 0;
 		virtual void process_reply(const char *, unsigned) { }
+
+		unsigned get_priority() const { return priority; }
+		const Msp::Time::TimeStamp &get_sleep_timeout() const { return sleep_timeout; }
+	protected:
+		void sleep(const Msp::Time::TimeDelta &);
 	};
 
 	class CommandQueueTask: public Task
@@ -240,9 +252,12 @@ private:
 		Queue<PendingCommand> queue;
 
 	public:
+		CommandQueueTask();
+
 		virtual bool get_work(PendingCommand &);
 
 		void push(const PendingCommand &);
+		unsigned size() const { return queue.size(); }
 		bool empty() const { return queue.empty(); }
 	};
 
@@ -276,7 +291,8 @@ private:
 		ArduControl &control;
 		unsigned n_octets;
 		unsigned octets_remaining;
-		unsigned delay;
+		Msp::Time::TimeStamp last_poll;
+		Msp::Time::TimeDelta latency;
 
 	public:
 		S88Task(ArduControl &);
@@ -286,13 +302,14 @@ private:
 
 		void set_n_octets(unsigned);
 		void grow_n_octets(unsigned);
+
+		const Msp::Time::TimeDelta &get_latency() const { return latency; }
 	};
 
 	class MfxAnnounceTask: public Task
 	{
 	private:
 		unsigned serial;
-		Msp::Time::TimeStamp next;
 
 	public:
 		MfxAnnounceTask();
@@ -308,7 +325,6 @@ private:
 	private:
 		ArduControl &control;
 		unsigned next_address;
-		Msp::Time::TimeStamp next;
 		unsigned size;
 		unsigned bits;
 		unsigned misses;
@@ -331,7 +347,6 @@ private:
 		float current;
 		float base_level;
 		float peak_level;
-		Msp::Time::TimeStamp next_poll;
 		unsigned next_type;
 
 	public:
@@ -400,6 +415,7 @@ private:
 	ControlThread thread;
 
 	static ProtocolInfo protocol_info[2];
+	static TelemetryInfo telemetry_info[4];
 
 public:
 	ArduControl(const Options &);
@@ -449,6 +465,9 @@ public:
 	virtual void set_sensor(unsigned, bool) { }
 	virtual bool get_sensor(unsigned) const;
 
+	virtual const TelemetryInfo *enumerate_telemetry(unsigned) const;
+	virtual float get_telemetry_value(const std::string &) const;
+
 	virtual void tick();
 	virtual void flush();
 private: