/****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *
 * 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
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/**
 * @file Subscription.cpp
 *
 */

#include "Subscription.hpp"
#include "topics/parameter_update.h"
#include "topics/actuator_controls.h"
#include "topics/vehicle_gps_position.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<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