/****************************************************************************
*
* 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
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4_nodehandle.h
*
* PX4 Middleware Wrapper Node Handle
*/
#pragma once
/* includes for all platforms */
#include "px4_subscriber.h"
#include "px4_publisher.h"
#include "px4_middleware.h"
#if defined(__PX4_ROS)
/* includes when building for ros */
#include "ros/ros.h"
#include <list>
#include <inttypes.h>
#include <type_traits>
#else
/* includes when building for NuttX */
#include <poll.h>
#endif
#include <functional>
namespace px4
{
#if defined(__PX4_ROS)
class NodeHandle :
private ros::NodeHandle
{
public:
NodeHandle() :
ros::NodeHandle(),
_subs(),
_pubs()
{}
~NodeHandle()
{
_subs.clear();
_pubs.clear();
};
/**
* Subscribe with callback to function
* @param topic Name of the topic
* @param fb Callback, executed on receiving a new message
*/
template<typename T>
Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval)
{
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, std::placeholders::_1));
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
/**
* Subscribe with callback to class method
* @param fb Callback, executed on receiving a new message
* @param obj pointer class instance
*/
template<typename T, typename C>
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval)
{
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, obj, std::placeholders::_1));
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
/**
* Subscribe with no callback, just the latest value is stored on updates
*/
template<typename T>
Subscriber<T> *subscribe(unsigned interval)
{
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this);
_subs.push_back(sub);
return (Subscriber<T> *)sub;
}
/**
* Advertise topic
*/
template<typename T>
Publisher<T>* advertise()
{
PublisherROS<T> *pub = new PublisherROS<T>((ros::NodeHandle*)this);
_pubs.push_back((PublisherBase*)pub);
return (Publisher<T>*)pub;
}
/**
* Calls all callback waiting to be called
*/
void spinOnce() { ros::spinOnce(); }
/**
* Keeps calling callbacks for incomming messages, returns when module is terminated
*/
void spin() { ros::spin(); }
protected:
std::list<SubscriberBase *> _subs; /**< Subcriptions of node */
std::list<PublisherBase *> _pubs; /**< Publications of node */
};
#else //Building for NuttX
class __EXPORT NodeHandle
{
public:
NodeHandle() :
_subs(),
_pubs(),
_sub_min_interval(nullptr)
{}
~NodeHandle()
{
/* Empty subscriptions list */
SubscriberNode *sub = _subs.getHead();
int count = 0;
while (sub != nullptr) {
if (count++ > kMaxSubscriptions) {
PX4_WARN("exceeded max subscriptions");
break;
}
SubscriberNode *sib = sub->getSibling();
delete sub;
sub = sib;
}
/* Empty publications list */
PublisherNode *pub = _pubs.getHead();
count = 0;
while (pub != nullptr) {
if (count++ > kMaxPublications) {
PX4_WARN("exceeded max publications");
break;
}
PublisherNode *sib = pub->getSibling();
delete pub;
pub = sib;
}
};
/**
* Subscribe with callback to function
* @param fp Callback, executed on receiving a new message
* @param interval Minimal interval between calls to callback
*/
template<typename T>
Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval)
{
(void)interval;
SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, std::placeholders::_1));
update_sub_min_interval(interval, sub_px4);
_subs.add((SubscriberNode *)sub_px4);
return (Subscriber<T> *)sub_px4;
}
/**
* Subscribe with callback to class method
* @param fb Callback, executed on receiving a new message
* @param obj pointer class instance
*/
template<typename T, typename C>
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval)
{
(void)interval;
SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, obj, std::placeholders::_1));
update_sub_min_interval(interval, sub_px4);
_subs.add((SubscriberNode *)sub_px4);
return (Subscriber<T> *)sub_px4;
}
/**
* Subscribe without callback to function
* @param interval Minimal interval between data fetches from orb
*/
template<typename T>
Subscriber<T> *subscribe(unsigned interval)
{
(void)interval;
SubscriberUORB<T> *sub_px4 = new SubscriberUORB<T>(interval);
update_sub_min_interval(interval, sub_px4);
_subs.add((SubscriberNode *)sub_px4);
return (Subscriber<T> *)sub_px4;
}
/**
* Advertise topic
*/
template<typename T>
Publisher<T> *advertise()
{
PublisherUORB<T> *pub = new PublisherUORB<T>();
_pubs.add(pub);
return (Publisher<T>*)pub;
}
/**
* Calls all callback waiting to be called
*/
void spinOnce()
{
/* Loop through subscriptions, call callback for updated subscriptions */
SubscriberNode *sub = _subs.getHead();
int count = 0;
while (sub != nullptr) {
if (count++ > kMaxSubscriptions) {
PX4_WARN("exceeded max subscriptions");
break;
}
sub->update();
sub = sub->getSibling();
}
}
/**
* Keeps calling callbacks for incomming messages, returns when module is terminated
*/
void spin()
{
while (ok()) {
const int timeout_ms = 100;
/* Only continue in the loop if the nodehandle has subscriptions */
if (_sub_min_interval == nullptr) {
usleep(timeout_ms * 1000);
continue;
}
/* Poll fd with smallest interval */
struct pollfd pfd;
pfd.fd = _sub_min_interval->getUORBHandle();
pfd.events = POLLIN;
poll(&pfd, 1, timeout_ms);
spinOnce();
}
}
protected:
static const uint16_t kMaxSubscriptions = 100;
static const uint16_t kMaxPublications = 100;
List<SubscriberNode *> _subs; /**< Subcriptions of node */
List<PublisherNode *> _pubs; /**< Publications of node */
SubscriberNode *_sub_min_interval; /**< Points to the sub wtih the smallest interval
of all Subscriptions in _subs*/
/**
* Check if this is the smallest interval so far and update _sub_min_interval
*/
template<typename T>
void update_sub_min_interval(unsigned interval, SubscriberUORB<T> *sub)
{
if (_sub_min_interval == nullptr || _sub_min_interval->get_interval() > interval) {
_sub_min_interval = sub;
}
}
};
#endif
}