1 files changed, 263 insertions, 0 deletions
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
new file mode 100644
index 000000000..160886810
--- /dev/null
+++ b/src/platforms/px4_nodehandle.h
@@ -0,0 +1,263 @@
+/****************************************************************************
+ *
+ *   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_nodehandle.h
+ *
+ * PX4 Middleware Wrapper Node Handle
+ */
+#pragma once
+
+/* includes for all platforms */
+#include "px4_subscriber.h"
+#include "px4_publisher.h"
+#include "px4_middleware.h"
+
+#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
+/* includes when building for ros */
+#include "ros/ros.h"
+#include <list>
+#include <inttypes.h>
+#else
+/* includes when building for NuttX */
+#include <poll.h>
+#endif
+
+namespace px4
+{
+#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
+class NodeHandle :
+	private ros::NodeHandle
+{
+public:
+	NodeHandle() :
+		ros::NodeHandle(),
+		_subs(),
+		_pubs()
+	{}
+
+	~NodeHandle()
+	{
+		//XXX empty lists
+	};
+
+	/**
+	 * Subscribe with callback to function
+	 * @param topic		Name of the topic
+	 * @param fb		Callback, executed on receiving a new message
+	 */
+	template<typename M>
+	Subscriber<M> *subscribe(const char *topic, void(*fp)(const M&))
+	{
+		SubscriberBase *sub = new SubscriberROS<M>(std::bind(fp, std::placeholders::_1));
+		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback, (SubscriberROS<M>*)sub);
+		((SubscriberROS<M>*)sub)->set_ros_sub(ros_sub);
+		_subs.push_back(sub);
+		return (Subscriber<M> *)sub;
+	}
+
+	/**
+	 * Subscribe with callback to class method
+	 * @param topic		Name of the topic
+	 * @param fb		Callback, executed on receiving a new message
+	 */
+	template<typename M, typename T>
+	Subscriber<M> *subscribe(const char *topic, void(T::*fp)(const M&), T *obj)
+	{
+		SubscriberBase *sub = new SubscriberROS<M>(std::bind(fp, obj, std::placeholders::_1));
+		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback, (SubscriberROS<M>*)sub);
+		((SubscriberROS<M>*)sub)->set_ros_sub(ros_sub);
+		_subs.push_back(sub);
+		return (Subscriber<M> *)sub;
+	}
+
+	/**
+	 * Subscribe with no callback, just the latest value is stored on updates
+	 * @param topic		Name of the topic
+	 */
+	template<typename M>
+	Subscriber<M> *subscribe(const char *topic)
+	{
+		SubscriberBase *sub = new SubscriberROS<M>();
+		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback, (SubscriberROS<M>*)sub);
+		((SubscriberROS<M>*)sub)->set_ros_sub(ros_sub);
+		_subs.push_back(sub);
+		return (Subscriber<M> *)sub;
+	}
+
+	/**
+	 * Advertise topic
+	 * @param topic		Name of the topic
+	 */
+	template<typename M>
+	Publisher *advertise(const char *topic)
+	{
+		ros::Publisher ros_pub = ros::NodeHandle::advertise<M>(topic, kQueueSizeDefault);
+		Publisher *pub =  new Publisher(ros_pub);
+		_pubs.push_back(pub);
+		return pub;
+	}
+
+	/**
+	 * Calls all callback waiting to be called
+	 */
+	void spinOnce() { ros::spinOnce(); }
+
+	/**
+	 * Keeps calling callbacks for incomming messages, returns when module is terminated
+	 */
+	void spin() { ros::spin(); }
+
+
+private:
+	static const uint32_t kQueueSizeDefault = 1000;		/**< Size of queue for ROS */
+	std::list<SubscriberBase *> _subs;				/**< Subcriptions of node */
+	std::list<PublisherBase *> _pubs;				/**< Publications of node */
+};
+#else //Building for NuttX
+class __EXPORT NodeHandle
+{
+public:
+	NodeHandle() :
+		_subs(),
+		_pubs(),
+		_sub_min_interval(nullptr)
+	{}
+
+	~NodeHandle() {};
+
+	/**
+	 * Subscribe with callback to function
+	 * @param meta		Describes the topic which nodehande should subscribe to
+	 * @param callback	Callback, executed on receiving a new message
+	 * @param interval	Minimal interval between calls to callback
+	 */
+
+	template<typename M>
+	Subscriber<M> *subscribe(const struct orb_metadata *meta,
+			      std::function<void(const M &)> callback,
+			      unsigned interval)
+	{
+		SubscriberUORB<M> *sub_px4 = new SubscriberUORB<M>(meta, interval, callback, &_subs);
+
+		/* Check if this is the smallest interval so far and update _sub_min_interval */
+		if (_sub_min_interval == nullptr || _sub_min_interval->getInterval() > sub_px4->getInterval()) {
+			_sub_min_interval = sub_px4;
+		}
+
+		return (Subscriber<M> *)sub_px4;
+	}
+
+	/**
+	 * Subscribe without callback to function
+	 * @param meta		Describes the topic which nodehande should subscribe to
+	 * @param interval	Minimal interval between data fetches from orb
+	 */
+
+	template<typename M>
+	Subscriber<M> *subscribe(const struct orb_metadata *meta,
+			      unsigned interval)
+	{
+		SubscriberUORB<M> *sub_px4 = new SubscriberUORB<M>(meta, interval, &_subs);
+
+		/* Check if this is the smallest interval so far and update _sub_min_interval */
+		if (_sub_min_interval == nullptr || _sub_min_interval->getInterval() > sub_px4->getInterval()) {
+			_sub_min_interval = sub_px4;
+		}
+
+		return (Subscriber<M> *)sub_px4;
+	}
+
+	/**
+	 * Advertise topic
+	 * @param meta		Describes the topic which is advertised
+	 */
+	template<typename M>
+	Publisher *advertise(const struct orb_metadata *meta)
+	{
+		//XXX
+		Publisher *pub = new Publisher(meta, &_pubs);
+		return pub;
+	}
+
+	/**
+	 * Calls all callback waiting to be called
+	 */
+	void spinOnce()
+	{
+		/* Loop through subscriptions, call callback for updated subscriptions */
+		uORB::SubscriptionNode *sub = _subs.getHead();
+		int count = 0;
+
+		while (sub != nullptr) {
+			if (count++ > kMaxSubscriptions) {
+				PX4_WARN("exceeded max subscriptions");
+				break;
+			}
+
+			sub->update();
+			sub = sub->getSibling();
+		}
+	}
+
+	/**
+	 * Keeps calling callbacks for incomming messages, returns when module is terminated
+	 */
+	void spin()
+	{
+		while (ok()) {
+			const int timeout_ms = 100;
+
+			/* Only continue in the loop if the nodehandle has subscriptions */
+			if (_sub_min_interval == nullptr) {
+				usleep(timeout_ms * 1000);
+				continue;
+			}
+
+			/* Poll fd with smallest interval */
+			struct pollfd pfd;
+			pfd.fd = _sub_min_interval->getHandle();
+			pfd.events = POLLIN;
+			poll(&pfd, 1, timeout_ms);
+			spinOnce();
+		}
+	}
+private:
+	static const uint16_t kMaxSubscriptions = 100;
+	List<uORB::SubscriptionNode *> _subs;		/**< Subcriptions of node */
+	List<uORB::PublicationNode *> _pubs;		/**< Publications of node */
+	uORB::SubscriptionNode *_sub_min_interval;	/**< Points to the sub wtih the smallest interval
+							  of all Subscriptions in _subs*/
+};
+#endif
+}