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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 00:05:29 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 00:05:29 +0200 |
commit | 5559e568b6e5502ad51ec96fd531876c1191d641 (patch) | |
tree | bc6356b5bed0481cced4a7d7e7ef99bd225d91a7 /src/modules/uORB/Subscription.hpp | |
parent | 863385dbc4243c8ecb19890a0dfce4a0b7ead9d6 (diff) | |
parent | d67089b23f58ac152253f58c5deaebbd57db0362 (diff) | |
download | px4-firmware-safelink.tar.gz px4-firmware-safelink.tar.bz2 px4-firmware-safelink.zip |
Merged master into safelinksafelink
Diffstat (limited to 'src/modules/uORB/Subscription.hpp')
-rw-r--r-- | src/modules/uORB/Subscription.hpp | 128 |
1 files changed, 128 insertions, 0 deletions
diff --git a/src/modules/uORB/Subscription.hpp b/src/modules/uORB/Subscription.hpp new file mode 100644 index 000000000..34e9a83e0 --- /dev/null +++ b/src/modules/uORB/Subscription.hpp @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * 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 Subscription.h + * + */ + +#pragma once + +#include <uORB/uORB.h> +#include <containers/List.hpp> + + +namespace uORB +{ + +/** + * Base subscription warapper class, used in list traversal + * of various subscriptions. + */ +class __EXPORT SubscriptionBase : + public ListNode<SubscriptionBase *> +{ +public: +// methods + + /** + * Constructor + * + * @param meta The uORB metadata (usually from the ORB_ID() macro) + * for the topic. + */ + SubscriptionBase( + List<SubscriptionBase *> * list, + const struct orb_metadata *meta) : + _meta(meta), + _handle() { + if (list != NULL) list->add(this); + } + bool updated(); + void update() { + if (updated()) { + orb_copy(_meta, _handle, getDataVoidPtr()); + } + } + virtual void *getDataVoidPtr() = 0; + virtual ~SubscriptionBase() { + orb_unsubscribe(_handle); + } +// accessors + const struct orb_metadata *getMeta() { return _meta; } + int getHandle() { return _handle; } +protected: +// accessors + void setHandle(int handle) { _handle = handle; } +// attributes + const struct orb_metadata *_meta; + int _handle; +}; + +/** + * Subscription wrapper class + */ +template<class T> +class __EXPORT Subscription : + public T, // this must be first! + public SubscriptionBase +{ +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. + * @param interval The minimum interval in milliseconds between updates + */ + Subscription( + List<SubscriptionBase *> * list, + const struct orb_metadata *meta, unsigned interval); + /** + * Deconstructor + */ + virtual ~Subscription(); + + /* + * 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(); + T getData(); +}; + +} // namespace uORB |