/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* 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
* notice, this list of conditions and the following disclaimer in
* 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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/**
* @file Subscription.cpp
*
*/
#include "Subscription.hpp"
#include "topics/parameter_update.h"
#include "topics/actuator_controls.h"
#include "topics/vehicle_gps_position.h"
#include "topics/sensor_combined.h"
namespace uORB
{
bool __EXPORT SubscriptionBase::updated()
{
bool isUpdated = false;
orb_check(_handle, &isUpdated);
return isUpdated;
}
template<class T>
Subscription<T>::Subscription(
List<SubscriptionBase *> * list,
const struct orb_metadata *meta, unsigned interval) :
T(), // initialize data structure to zero
SubscriptionBase(list, meta) {
setHandle(orb_subscribe(getMeta()));
orb_set_interval(getHandle(), interval);
}
template<class T>
Subscription<T>::~Subscription() {}
template<class T>
void * Subscription<T>::getDataVoidPtr() {
return (void *)(T *)(this);
}
template<class T>
T Subscription<T>::getData() {
return T(*this);
}
template class __EXPORT Subscription<parameter_update_s>;
template class __EXPORT Subscription<actuator_controls_s>;
template class __EXPORT Subscription<vehicle_gps_position_s>;
template class __EXPORT Subscription<sensor_combined_s>;
} // namespace uORB
