1 files changed, 105 insertions, 0 deletions
diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
new file mode 100644
index 000000000..44b6debc7
--- /dev/null
+++ b/src/modules/uORB/Subscription.cpp
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   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/satellite_info.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<satellite_info_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