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author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-30 00:25:26 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-30 00:25:26 +0400 |
commit | d2553bfd2930eb02664d564559fa361b80c63f61 (patch) | |
tree | 21cda568519c33a261edaaa9c370cc9ba9c7f466 /src/modules/mavlink/mavlink_orb_subscription.h | |
parent | 0789189c0588ebebd24a523f9639411be89c6a9b (diff) | |
parent | 9b1de5004c673ebe8bdf68f1b518565cccd6b05b (diff) | |
download | px4-firmware-d2553bfd2930eb02664d564559fa361b80c63f61.tar.gz px4-firmware-d2553bfd2930eb02664d564559fa361b80c63f61.tar.bz2 px4-firmware-d2553bfd2930eb02664d564559fa361b80c63f61.zip |
Merge branch 'master' into offboard2
Diffstat (limited to 'src/modules/mavlink/mavlink_orb_subscription.h')
-rw-r--r-- | src/modules/mavlink/mavlink_orb_subscription.h | 78 |
1 files changed, 78 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_orb_subscription.h b/src/modules/mavlink/mavlink_orb_subscription.h new file mode 100644 index 000000000..5c6543e81 --- /dev/null +++ b/src/modules/mavlink/mavlink_orb_subscription.h @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * 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 mavlink_orb_subscription.h + * uORB subscription definition. + * + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#ifndef MAVLINK_ORB_SUBSCRIPTION_H_ +#define MAVLINK_ORB_SUBSCRIPTION_H_ + +#include <systemlib/uthash/utlist.h> +#include <drivers/drv_hrt.h> + + +class MavlinkOrbSubscription +{ +public: + MavlinkOrbSubscription *next; /*< pointer to next subscription in list */ + + MavlinkOrbSubscription(const orb_id_t topic); + ~MavlinkOrbSubscription(); + + bool update(const hrt_abstime t); + + /** + * Check if the topic has been published. + * + * This call will return true if the topic was ever published. + * @return true if the topic has been published at least once. + */ + bool is_published(); + void *get_data(); + const orb_id_t get_topic(); + +private: + const orb_id_t _topic; /*< topic metadata */ + int _fd; /*< subscription handle */ + bool _published; /*< topic was ever published */ + void *_data; /*< pointer to data buffer */ + hrt_abstime _last_check; /*< time of last check */ + bool _updated; /*< updated on last check */ +}; + + +#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */ |