diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_orb_subscription.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_orb_subscription.cpp | 114 |
1 files changed, 114 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp new file mode 100644 index 000000000..d432edd2b --- /dev/null +++ b/src/modules/mavlink/mavlink_orb_subscription.cpp @@ -0,0 +1,114 @@ +/**************************************************************************** + * + * 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.cpp + * uORB subscription implementation. + * + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#include <unistd.h> +#include <stdlib.h> +#include <string.h> +#include <uORB/uORB.h> +#include <stdio.h> + +#include "mavlink_orb_subscription.h" + +MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) : + _fd(orb_subscribe(_topic)), + _published(false), + _topic(topic), + _last_check(0), + next(nullptr) +{ + _data = malloc(topic->o_size); + memset(_data, 0, topic->o_size); +} + +MavlinkOrbSubscription::~MavlinkOrbSubscription() +{ + close(_fd); + free(_data); +} + +const orb_id_t +MavlinkOrbSubscription::get_topic() +{ + return _topic; +} + +void * +MavlinkOrbSubscription::get_data() +{ + return _data; +} + +bool +MavlinkOrbSubscription::update(const hrt_abstime t) +{ + if (_last_check == t) { + /* already checked right now, return result of the check */ + return _updated; + + } else { + _last_check = t; + orb_check(_fd, &_updated); + + if (_updated) { + orb_copy(_topic, _fd, _data); + _published = true; + return true; + } + } + + return false; +} + +bool +MavlinkOrbSubscription::is_published() +{ + if (_published) { + return true; + } + + bool updated; + orb_check(_fd, &updated); + + if (updated) { + _published = true; + } + + return _published; +} |