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Diffstat (limited to 'src/modules/controllib/uorb/UOrbSubscription.hpp')
-rw-r--r-- | src/modules/controllib/uorb/UOrbSubscription.hpp | 137 |
1 files changed, 0 insertions, 137 deletions
diff --git a/src/modules/controllib/uorb/UOrbSubscription.hpp b/src/modules/controllib/uorb/UOrbSubscription.hpp deleted file mode 100644 index d337d89a8..000000000 --- a/src/modules/controllib/uorb/UOrbSubscription.hpp +++ /dev/null @@ -1,137 +0,0 @@ -/**************************************************************************** - * - * 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 UOrbSubscription.h - * - */ - -#pragma once - -#include <uORB/uORB.h> -#include "../block/Block.hpp" -#include "../block/List.hpp" - - -namespace control -{ - -class Block; - -/** - * Base subscription warapper class, used in list traversal - * of various subscriptions. - */ -class __EXPORT UOrbSubscriptionBase : - public ListNode<control::UOrbSubscriptionBase *> -{ -public: -// methods - - /** - * Constructor - * - * @param meta The uORB metadata (usually from the ORB_ID() macro) - * for the topic. - */ - UOrbSubscriptionBase( - List<UOrbSubscriptionBase *> * 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 ~UOrbSubscriptionBase() { - 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; -}; - -/** - * UOrb Subscription wrapper class - */ -template<class T> -class __EXPORT UOrbSubscription : - public T, // this must be first! - public UOrbSubscriptionBase -{ -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 - */ - UOrbSubscription( - List<UOrbSubscriptionBase *> * list, - const struct orb_metadata *meta, unsigned interval) : - T(), // initialize data structure to zero - UOrbSubscriptionBase(list, meta) { - setHandle(orb_subscribe(getMeta())); - orb_set_interval(getHandle(), interval); - } - - /** - * Deconstructor - */ - virtual ~UOrbSubscription() {} - - /* - * 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); } - T getData() { return T(*this); } -}; - -} // namespace control |