/home/travis/build/lis-epfl/MAVRIC_Library/communication/periodic_telemetry.hxx

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/*******************************************************************************
 * \file periodic_telemetry.hxx
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Periodic telemetry
 *
 ******************************************************************************/

template<typename T>
bool Periodic_telemetry::add(   uint32_t                        task_id,
                                uint32_t                        repeat_period,
                                typename function<T>::type_t    telemetry_function,
                                T*                              telemetry_module,
                                Scheduler_task::priority_t      priority,
                                Scheduler_task::timing_mode_t   timing_mode,
                                Scheduler_task::run_mode_t      run_mode)
{
    bool add_success = true;

    if (count_ <  max_count())
    {
        telemetry_entry_t* new_entry = &list()[count_++];

        new_entry->mavlink_stream = &mavlink_stream_;
        new_entry->function       = reinterpret_cast<function<void>::type_t>(telemetry_function);   // we do dangerous casting here, but it is safe because
        new_entry->module         = reinterpret_cast<void*>(telemetry_module);                      // the types of telemetry_function and telemetry_argument are compatible

        add_success &= true;

        add_success &= scheduler().add_task(repeat_period,
                                           &send_message,
                                           new_entry,
                                           priority,
                                           timing_mode,
                                           run_mode,
                                           task_id);
    }
    else
    {
        print_util_dbg_print("[MAVLINK COMMUNICATION] Error: Cannot add more send msg\r\n");

        add_success &= false;
    }

    return add_success;
}