/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
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* the documentation and/or other materials provided with the
* distribution.
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* used to endorse or promote products derived from this software
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*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
* @file Publication.h
*
*/
#pragma once
#include <assert.h>
#include <uORB/uORB.h>
#include <containers/List.hpp>
namespace uORB
{
/**
* Base publication warapper class, used in list traversal
* of various publications.
*/
class __EXPORT PublicationBase
{
public:
/**
* Constructor
*
*
* @param meta The uORB metadata (usually from the ORB_ID()
* macro) for the topic.
*/
PublicationBase(const struct orb_metadata *meta) :
_meta(meta),
_handle(-1) {
}
/**
* Update the struct
* @param data The uORB message struct we are updating.
*/
void update(void * data) {
if (_handle > 0) {
orb_publish(getMeta(), getHandle(), data);
} else {
setHandle(orb_advertise(getMeta(), data));
}
}
/**
* Deconstructor
*/
virtual ~PublicationBase() {
orb_unsubscribe(getHandle());
}
// accessors
const struct orb_metadata *getMeta() { return _meta; }
int getHandle() { return _handle; }
protected:
// accessors
void setHandle(orb_advert_t handle) { _handle = handle; }
// attributes
const struct orb_metadata *_meta;
orb_advert_t _handle;
};
/**
* alias class name so it is clear that the base class
* can be used by itself if desired
*/
typedef PublicationBase PublicationTiny;
/**
* The publication base class as a list node.
*/
class __EXPORT PublicationNode :
public PublicationBase,
public ListNode<PublicationNode *>
{
public:
/**
* Constructor
*
*
* @param meta The uORB metadata (usually from the ORB_ID()
* macro) for the topic.
* @param list A pointer to a list of subscriptions
* that this should be appended to.
*/
PublicationNode(const struct orb_metadata *meta,
List<PublicationNode *> * list=nullptr) :
PublicationBase(meta) {
if (list != nullptr) list->add(this);
}
/**
* This function is the callback for list traversal
* updates, a child class must implement it.
*/
virtual void update() = 0;
};
/**
* Publication wrapper class
*/
template<class T>
class Publication :
public T, // this must be first!
public PublicationNode
{
public:
/**
* Constructor
*
* @param meta The uORB metadata (usually from
* the ORB_ID() macro) for the topic.
* @param list A list interface for adding to
* list during construction
*/
Publication(const struct orb_metadata *meta,
List<PublicationNode *> * list=nullptr);
/**
* Deconstructor
**/
virtual ~Publication();
/*
* XXX
* This function gets the T struct, assuming
* the struct is the first base class, this
* should use dynamic cast, but doesn't
* seem to be available
*/
void *getDataVoidPtr();
/**
* Create an update function that uses the embedded struct.
*/
void update() {
PublicationBase::update(getDataVoidPtr());
}
};
} // namespace uORB
