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author | James Goppert <james.goppert@gmail.com> | 2014-03-16 16:14:56 -0400 |
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committer | James Goppert <james.goppert@gmail.com> | 2014-03-20 12:12:42 -0400 |
commit | fd6590cfa7e14436fa8af6a0569b6382cd39069a (patch) | |
tree | 4edc6f8aac6be73ef92519d352d77645d06decd7 /src/modules/uORB/Publication.hpp | |
parent | 2c32cdf16bb02a9ae4d47b60cb32553fefb33738 (diff) | |
download | px4-firmware-fd6590cfa7e14436fa8af6a0569b6382cd39069a.tar.gz px4-firmware-fd6590cfa7e14436fa8af6a0569b6382cd39069a.tar.bz2 px4-firmware-fd6590cfa7e14436fa8af6a0569b6382cd39069a.zip |
Moved UOrbPubliction/Subscription to uORB::Publication/Subscription
Diffstat (limited to 'src/modules/uORB/Publication.hpp')
-rw-r--r-- | src/modules/uORB/Publication.hpp | 115 |
1 files changed, 115 insertions, 0 deletions
diff --git a/src/modules/uORB/Publication.hpp b/src/modules/uORB/Publication.hpp new file mode 100644 index 000000000..7fa6bcc17 --- /dev/null +++ b/src/modules/uORB/Publication.hpp @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 Publication.h + * + */ + +#pragma once + +#include <uORB/uORB.h> +#include <controllib/block/List.hpp> + + +namespace uORB +{ + +/** + * Base publication warapper class, used in list traversal + * of various publications. + */ +class __EXPORT PublicationBase : public ListNode<uORB::PublicationBase *> +{ +public: + + PublicationBase( + List<PublicationBase *> * list, + const struct orb_metadata *meta) : + _meta(meta), + _handle(-1) { + if (list != NULL) list->add(this); + } + void update() { + if (_handle > 0) { + orb_publish(getMeta(), getHandle(), getDataVoidPtr()); + } else { + setHandle(orb_advertise(getMeta(), getDataVoidPtr())); + } + } + virtual void *getDataVoidPtr() = 0; + virtual ~PublicationBase() { + orb_unsubscribe(getHandle()); + } + const struct orb_metadata *getMeta() { return _meta; } + int getHandle() { return _handle; } +protected: + void setHandle(orb_advert_t handle) { _handle = handle; } + const struct orb_metadata *_meta; + orb_advert_t _handle; +}; + +/** + * Publication wrapper class + */ +template<class T> +class Publication : + public T, // this must be first! + public PublicationBase +{ +public: + /** + * Constructor + * + * @param list A list interface for adding to list during construction + * @param meta The uORB metadata (usually from the ORB_ID() macro) + * for the topic. + */ + Publication( + List<PublicationBase *> * list, + const struct orb_metadata *meta) : + T(), // initialize data structure to zero + PublicationBase(list, meta) { + } + virtual ~Publication() {} + /* + * XXX + * This function gets the T struct, assuming + * the struct is the first base class, this + * should use dynamic cast, but doesn't + * seem to be available + */ + void *getDataVoidPtr() { return (void *)(T *)(this); } +}; + +} // namespace uORB |