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Diffstat (limited to 'src/platforms/px4_message.h')
-rw-r--r-- | src/platforms/px4_message.h | 77 |
1 files changed, 77 insertions, 0 deletions
diff --git a/src/platforms/px4_message.h b/src/platforms/px4_message.h new file mode 100644 index 000000000..bff7aa313 --- /dev/null +++ b/src/platforms/px4_message.h @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * 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 px4_message.h + * + * Defines the message base types + */ +#pragma once + +#if defined(__PX4_ROS) +typedef const char* PX4TopicHandle; +#else +#include <uORB/uORB.h> +typedef orb_id_t PX4TopicHandle; +#endif + +namespace px4 +{ + +template <typename M> +class __EXPORT PX4Message +{ + // friend class NodeHandle; +// #if defined(__PX4_ROS) + // template<typename T> + // friend class SubscriberROS; +// #endif + +public: + PX4Message() : + _data() + {} + + PX4Message(M msg) : + _data(msg) + {} + + virtual ~PX4Message() {}; + + virtual M& data() {return _data;} + virtual const M& data() const {return _data;} +private: + M _data; +}; + +} |