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/**
* @file mavlink_orb_subscription.h
* uORB subscription definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_ORB_SUBSCRIPTION_H_
#define MAVLINK_ORB_SUBSCRIPTION_H_
#include <systemlib/uthash/utlist.h>
#include <drivers/drv_hrt.h>
class MavlinkOrbSubscription
{
public:
MavlinkOrbSubscription *next; /*< pointer to next subscription in list */
MavlinkOrbSubscription(const orb_id_t topic);
~MavlinkOrbSubscription();
bool update(const hrt_abstime t);
/**
* Check if the topic has been published.
*
* This call will return true if the topic was ever published.
* @return true if the topic has been published at least once.
*/
bool is_published();
void *get_data();
const orb_id_t get_topic();
private:
const orb_id_t _topic; /*< topic metadata */
int _fd; /*< subscription handle */
bool _published; /*< topic was ever published */
void *_data; /*< pointer to data buffer */
hrt_abstime _last_check; /*< time of last check */
bool _updated; /*< updated on last check */
};
#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */