1 files changed, 113 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..4de722832
--- /dev/null
+++ b/src/modules/mavlink/mavlink_orb_subscription.cpp
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   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);
+			return true;
+		}
+	}
+
+	return false;
+}
+
+bool
+MavlinkOrbSubscription::is_published()
+{
+	if (_published) {
+		return true;
+	}
+
+	bool updated;
+	orb_check(_fd, &updated);
+
+	if (updated) {
+		_published = true;
+	}
+
+	return _published;
+}