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/****************************************************************************
*
* 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(__PX4_ROS)
/* includes when building for ros */
#include "ros/ros.h"
#include <list>
#include <inttypes.h>
#include <type_traits>
#else
/* includes when building for NuttX */
#include <poll.h>
#endif
namespace px4
{
#if defined(__PX4_ROS)
class NodeHandle :
private ros::NodeHandle
{
public:
NodeHandle() :
ros::NodeHandle(),
_subs(),
_pubs()
{}
~NodeHandle()
{
_subs.clear();
_pubs.clear();
};
/**
* 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;
// }
template<typename T>
// Subscriber<T> *subscribe(void(*fp)(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &))
Subscriber<T> *subscribe(void(*fp)(const T &))
{
SubscriberBase *sub = new SubscriberROS<T>(std::bind(fp, std::placeholders::_1));
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(T::handle(), kQueueSizeDefault,
&SubscriberROS<T>::callback, (SubscriberROS<T> *)sub);
((SubscriberROS<T> *)sub)->set_ros_sub(ros_sub);
_subs.push_back(sub);
return (Subscriber<T> *)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;
// }
template<typename T>
Publisher* advertise()
// Publisher<T> *advertise()
{
ros::Publisher ros_pub = ros::NodeHandle::advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), 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 = 1; /**< 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()
{
/* Empty subscriptions list */
SubscriberNode *sub = _subs.getHead();
int count = 0;
while (sub != nullptr) {
if (count++ > kMaxSubscriptions) {
PX4_WARN("exceeded max subscriptions");
break;
}
SubscriberNode *sib = sub->getSibling();
delete sub;
sub = sib;
}
/* Empty publications list */
Publisher *pub = _pubs.getHead();
count = 0;
while (pub != nullptr) {
if (count++ > kMaxPublications) {
PX4_WARN("exceeded max publications");
break;
}
Publisher *sib = pub->getSibling();
delete pub;
pub = sib;
}
};
/**
* 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)
// {
// SubscriberUORBCallback<M> *sub_px4 = new SubscriberUORBCallback<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 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 T>
// Subscriber<T> *subscribe(std::function<void(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &)> callback, unsigned interval=10) //XXX interval
// Subscriber<T> *subscribe(void(*fp)(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &), unsigned interval=10) //XXX interval
Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval=10) //XXX interval
{
uORB::SubscriptionBase * uorb_sub = new uORB::SubscriptionBase(T::handle(), interval);
// SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(uorb_sub, interval, callback);
SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(uorb_sub, interval, std::bind(fp, std::placeholders::_1));
/* Check if this is the smallest interval so far and update _sub_min_interval */
if (_sub_min_interval == nullptr || _sub_min_interval->get_interval() > interval) {
_sub_min_interval = sub_px4;
}
_subs.add((SubscriberNode *)sub_px4);
return (Subscriber<T> *)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;
// }
/**
* Advertise topic
* @param meta Describes the topic which is advertised
*/
template<typename T>
Publisher *advertise()
{
//XXX
// uORB::PublicationBase * uorb_pub = new uORB::PublicationBase((new T())->handle());
uORB::PublicationBase * uorb_pub = new uORB::PublicationBase(T::handle());
Publisher *pub = new Publisher(uorb_pub);
_pubs.add(pub);
return pub;
}
/**
* Calls all callback waiting to be called
*/
void spinOnce()
{
/* Loop through subscriptions, call callback for updated subscriptions */
SubscriberNode *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->getUORBHandle();
pfd.events = POLLIN;
poll(&pfd, 1, timeout_ms);
spinOnce();
}
}
private:
static const uint16_t kMaxSubscriptions = 100;
static const uint16_t kMaxPublications = 100;
List<SubscriberNode *> _subs; /**< Subcriptions of node */
List<Publisher *> _pubs; /**< Publications of node */
SubscriberNode *_sub_min_interval; /**< Points to the sub wtih the smallest interval
of all Subscriptions in _subs*/
};
#endif
}
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