/****************************************************************************
*
* 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_subscriber.h
*
* PX4 Middleware Wrapper Subscriber
*/
#pragma once
#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
/* includes when building for ros */
#include "ros/ros.h"
#else
/* includes when building for NuttX */
#include <uORB/Subscription.hpp>
#include <containers/List.hpp>
#include <functional>
#endif
namespace px4
{
#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
class Subscriber
{
public:
/**
* Construct Subscriber by providing a ros::Subscriber
* @param ros_sub the ros subscriber which will be used to perform the publications
*/
Subscriber(ros::Subscriber ros_sub) :
_ros_sub(ros_sub)
{}
~Subscriber() {};
private:
ros::Subscriber _ros_sub; /**< Handle to ros subscriber */
};
#else
/**
* Subscriber class which is used by nodehandle when building for NuttX
*/
class Subscriber
{
public:
Subscriber() {};
~Subscriber() {};
private:
};
/**
* Subscriber class that is templated with the uorb subscription message type
*/
template<typename M>
class SubscriberPX4 :
public Subscriber,
public uORB::Subscription<M>
{
public:
/**
* Construct SubscriberPX4 by providing orb meta data
* @param meta orb metadata for the topic which is used
* @param callback Callback, executed on receiving a new message
* @param interval Minimal interval between calls to callback
* @param list subscriber is added to this list
*/
SubscriberPX4(const struct orb_metadata *meta,
unsigned interval,
std::function<void(const M &)> callback,
List<uORB::SubscriptionNode *> *list) :
Subscriber(),
uORB::Subscription<M>(meta, interval, list),
_callback(callback)
//XXX store callback
{}
~SubscriberPX4() {};
/**
* Update Subscription
* Invoked by the list traversal in NodeHandle::spinOnce
* If new data is available the callback is called
*/
void update()
{
if (_callback == nullptr) {
return;
}
if (!uORB::Subscription<M>::updated()) {
/* Topic not updated, do not call callback */
return;
}
/* get latest data */
uORB::Subscription<M>::update();
/* Call callback which performs actions based on this data */
_callback(uORB::Subscription<M>::getData());
};
private:
std::function<void(const M &)> _callback; /**< Callback handle,
called when new data is available */
};
#endif
}
