path: root/src/platforms/px4_nodehandle.h

/****************************************************************************
 *
 *   Copyright (c) 2014 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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 *    used to endorse or promote products derived from this software
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/**
 * @file px4_nodehandle.h
 *
 * PX4 Middleware Wrapper Node Handle
 */
#pragma once

/* includes for all platforms */
#include "px4_subscriber.h"
#include "px4_publisher.h"

#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
/* includes when building for ros */
#include "ros/ros.h"
#include <list>
#include <inttypes.h>
#else
/* includes when building for NuttX */
#endif

namespace px4
{
//XXX create abstract base class
#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
class NodeHandle :
	private ros::NodeHandle
{
public:
	NodeHandle() :
		ros::NodeHandle(),
		_subs(),
		_pubs()
	{}

	~NodeHandle() {
		//XXX empty lists
	};

	template<typename M>
	Subscriber * subscribe(const char *topic, void(*fp)(M)) {
		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp);
		Subscriber * sub = new Subscriber(ros_sub);
		_subs.push_back(sub);
		return sub;
	}

	template<typename M>
	Publisher * advertise(const char *topic) {
		ros::Publisher ros_pub = ros::NodeHandle::advertise<M>(topic, kQueueSizeDefault);
		Publisher *pub =  new Publisher(ros_pub);
		_pubs.push_back(pub);
		return pub;
	}

	void spin() { ros::spin(); }

	void spinOnce() { ros::spinOnce(); }
private:
	static const uint32_t kQueueSizeDefault = 1000;
	std::list<Subscriber*> _subs;
	std::list<Publisher*> _pubs;
};
#else
class __EXPORT NodeHandle
{
public:
	NodeHandle() :
		_subs(),
		_pubs()
	{}

	~NodeHandle() {};

	template<typename M>
	Subscriber * subscribe(const struct orb_metadata *meta, std::function<void(const M&)> callback) {
	// Subscriber * subscribe(const struct orb_metadata *meta, std::function<void(int i)> callback) {
	// Subscriber * subscribe(const struct orb_metadata *meta, CallbackFunction callback) {
		unsigned interval = 0;//XXX decide how to wrap this, ros equivalent?
		//XXX
		Subscriber *sub = new SubscriberPX4<M>(meta, interval, callback, &_subs);
		return sub;
	}

	template<typename M>
	Publisher * advertise(const struct orb_metadata *meta) {
		//XXX
		Publisher * pub = new Publisher(meta, &_pubs);
		return pub;
	}

	void spinOnce();

	void spin() {
	 //XXX: call callbacks and do not return until task is terminated
	}
private:
	static const uint16_t kMaxSubscriptions = 100;
	List<uORB::SubscriptionNode*> _subs;
	List<uORB::PublicationNode*> _pubs;

};
#endif
}