Merge remote-tracking branch 'upstream/master' into diff_press_filter

Conflicts:
	src/drivers/meas_airspeed/meas_airspeed.cpp

7 files changed, 494 insertions, 1 deletions

diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp
new file mode 100644
index 000000000..5a5981617
--- /dev/null
+++ b/src/modules/uORB/Publication.cpp
@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   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.cpp
+ *
+ */
+
+#include "Publication.hpp"
+#include "topics/vehicle_attitude.h"
+#include "topics/vehicle_local_position.h"
+#include "topics/vehicle_global_position.h"
+#include "topics/debug_key_value.h"
+#include "topics/actuator_controls.h"
+#include "topics/vehicle_global_velocity_setpoint.h"
+#include "topics/vehicle_attitude_setpoint.h"
+#include "topics/vehicle_rates_setpoint.h"
+#include "topics/actuator_outputs.h"
+#include "topics/encoders.h"
+
+namespace uORB {
+
+template<class T>
+Publication<T>::Publication(
+	List<PublicationBase *> * list,
+	const struct orb_metadata *meta) :
+	T(), // initialize data structure to zero
+	PublicationBase(list, meta) {
+}
+
+template<class T>
+Publication<T>::~Publication() {}
+
+template<class T>
+void * Publication<T>::getDataVoidPtr() {
+	return (void *)(T *)(this);
+}
+
+template class __EXPORT Publication<vehicle_attitude_s>;
+template class __EXPORT Publication<vehicle_local_position_s>;
+template class __EXPORT Publication<vehicle_global_position_s>;
+template class __EXPORT Publication<debug_key_value_s>;
+template class __EXPORT Publication<actuator_controls_s>;
+template class __EXPORT Publication<vehicle_global_velocity_setpoint_s>;
+template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
+template class __EXPORT Publication<vehicle_rates_setpoint_s>;
+template class __EXPORT Publication<actuator_outputs_s>;
+template class __EXPORT Publication<encoders_s>;
+
+}
diff --git a/src/modules/uORB/Publication.hpp b/src/modules/uORB/Publication.hpp
new file mode 100644
index 000000000..8650b3df8
--- /dev/null
+++ b/src/modules/uORB/Publication.hpp
@@ -0,0 +1,111 @@
+/****************************************************************************
+ *
+ *   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 <containers/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);
+	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();
+};
+
+} // namespace uORB
diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
new file mode 100644
index 000000000..c1d1a938f
--- /dev/null
+++ b/src/modules/uORB/Subscription.cpp
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   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.cpp
+ *
+ */
+
+#include "Subscription.hpp"
+#include "topics/parameter_update.h"
+#include "topics/actuator_controls.h"
+#include "topics/vehicle_gps_position.h"
+#include "topics/sensor_combined.h"
+#include "topics/vehicle_attitude.h"
+#include "topics/vehicle_global_position.h"
+#include "topics/encoders.h"
+#include "topics/position_setpoint_triplet.h"
+#include "topics/vehicle_status.h"
+#include "topics/manual_control_setpoint.h"
+#include "topics/vehicle_local_position_setpoint.h"
+#include "topics/vehicle_local_position.h"
+#include "topics/vehicle_attitude_setpoint.h"
+#include "topics/vehicle_rates_setpoint.h"
+
+namespace uORB
+{
+
+bool __EXPORT SubscriptionBase::updated()
+{
+	bool isUpdated = false;
+	orb_check(_handle, &isUpdated);
+	return isUpdated;
+}
+
+template<class T>
+Subscription<T>::Subscription(
+	List<SubscriptionBase *> * list,
+	const struct orb_metadata *meta, unsigned interval) :
+	T(), // initialize data structure to zero
+	SubscriptionBase(list, meta) {
+	setHandle(orb_subscribe(getMeta()));
+	orb_set_interval(getHandle(), interval);
+}
+
+template<class T>
+Subscription<T>::~Subscription() {}
+
+template<class T>
+void * Subscription<T>::getDataVoidPtr() {
+	return (void *)(T *)(this);
+}
+
+template<class T>
+T Subscription<T>::getData() {
+	return T(*this);
+}
+
+template class __EXPORT Subscription<parameter_update_s>;
+template class __EXPORT Subscription<actuator_controls_s>;
+template class __EXPORT Subscription<vehicle_gps_position_s>;
+template class __EXPORT Subscription<sensor_combined_s>;
+template class __EXPORT Subscription<vehicle_attitude_s>;
+template class __EXPORT Subscription<vehicle_global_position_s>;
+template class __EXPORT Subscription<encoders_s>;
+template class __EXPORT Subscription<position_setpoint_triplet_s>;
+template class __EXPORT Subscription<vehicle_status_s>;
+template class __EXPORT Subscription<manual_control_setpoint_s>;
+template class __EXPORT Subscription<vehicle_local_position_setpoint_s>;
+template class __EXPORT Subscription<vehicle_local_position_s>;
+template class __EXPORT Subscription<vehicle_attitude_setpoint_s>;
+template class __EXPORT Subscription<vehicle_rates_setpoint_s>;
+
+} // namespace uORB
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
diff --git a/src/modules/uORB/module.mk b/src/modules/uORB/module.mk
index 5ec31ab01..0c29101fe 100644
--- a/src/modules/uORB/module.mk
+++ b/src/modules/uORB/module.mk
@@ -41,4 +41,6 @@ MODULE_COMMAND		= uorb
 MODULE_STACKSIZE	= 4096
 
 SRCS			= uORB.cpp \
-			  objects_common.cpp
+			  objects_common.cpp \
+			  Publication.cpp \
+			  Subscription.cpp
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 4c84c1f25..fb24de8d1 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -190,3 +190,6 @@ ORB_DEFINE(navigation_capabilities, struct navigation_capabilities_s);
 
 #include "topics/esc_status.h"
 ORB_DEFINE(esc_status, struct esc_status_s);
+
+#include "topics/encoders.h"
+ORB_DEFINE(encoders, struct encoders_s);
diff --git a/src/modules/uORB/topics/encoders.h b/src/modules/uORB/topics/encoders.h
new file mode 100644
index 000000000..588c0ddb1
--- /dev/null
+++ b/src/modules/uORB/topics/encoders.h
@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   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 encoders.h
+ *
+ * Encoders topic.
+ *
+ */
+
+#ifndef TOPIC_ENCODERS_H
+#define TOPIC_ENCODERS_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+#define NUM_ENCODERS 4
+
+struct encoders_s {
+	uint64_t timestamp;
+	int64_t counts[NUM_ENCODERS]; // counts of encoder
+	float velocity[NUM_ENCODERS]; // counts of encoder/ second
+};
+
+/**
+ * @}
+ */
+
+ORB_DECLARE(encoders);
+
+#endif