1 files changed, 119 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..734f0903a
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+++ b/src/modules/mavlink/mavlink_orb_subscription.cpp
@@ -0,0 +1,119 @@
+/****************************************************************************
+ *
+ *   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) :
+	next(nullptr),
+	_topic(topic),
+	_fd(orb_subscribe(_topic)),
+	_published(false)
+{
+}
+
+MavlinkOrbSubscription::~MavlinkOrbSubscription()
+{
+	close(_fd);
+}
+
+orb_id_t
+MavlinkOrbSubscription::get_topic() const
+{
+	return _topic;
+}
+
+bool
+MavlinkOrbSubscription::update(uint64_t *time, void* data)
+{
+	// TODO this is NOT atomic operation, we can get data newer than time
+	// if topic was published between orb_stat and orb_copy calls.
+
+	uint64_t time_topic;
+	if (orb_stat(_fd, &time_topic)) {
+		/* error getting last topic publication time */
+		time_topic = 0;
+	}
+
+	if (orb_copy(_topic, _fd, data)) {
+		/* error copying topic data */
+		memset(data, 0, _topic->o_size);
+		return false;
+
+	} else {
+		/* data copied successfully */
+		_published = true;
+		if (time_topic != *time) {
+			*time = time_topic;
+			return true;
+
+		} else {
+			return false;
+		}
+	}
+}
+
+bool
+MavlinkOrbSubscription::update(void* data)
+{
+	return !orb_copy(_topic, _fd, data);
+}
+
+bool
+MavlinkOrbSubscription::is_published()
+{
+	if (_published) {
+		return true;
+	}
+
+	bool updated;
+	orb_check(_fd, &updated);
+
+	if (updated) {
+		_published = true;
+	}
+
+	return _published;
+}