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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(__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
{
//XXX create abstract base class
#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
class NodeHandle :
private ros::NodeHandle
{
public:
NodeHandle() :
ros::NodeHandle(),
_subs(),
_pubs()
{}
~NodeHandle() {
//XXX empty lists
};
/* Constructor with callback to function */
template<typename M>
Subscriber * subscribe(const char *topic, void(*fp)(M)) {
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp);
Subscriber * sub = new Subscriber(ros_sub);
_subs.push_back(sub);
return sub;
}
/* Constructor with callback to class method */
template<typename M, typename T>
Subscriber * subscribe(const char *topic, void(T::*fp)(M), T *obj) {
ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp, obj);
Subscriber * sub = new Subscriber(ros_sub);
_subs.push_back(sub);
return sub;
}
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;
}
void spin() { ros::spin(); }
void spinOnce() { ros::spinOnce(); }
private:
static const uint32_t kQueueSizeDefault = 1000;
std::list<Subscriber*> _subs;
std::list<Publisher*> _pubs;
};
#else
class __EXPORT NodeHandle
{
public:
NodeHandle() :
_subs(),
_pubs(),
_sub_min_interval(nullptr)
{}
~NodeHandle() {};
template<typename M>
Subscriber * subscribe(const struct orb_metadata *meta,
std::function<void(const M&)> callback,
unsigned interval) {
SubscriberPX4<M> *sub_px4 = new SubscriberPX4<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*)sub_px4;
}
template<typename M>
Publisher * advertise(const struct orb_metadata *meta) {
//XXX
Publisher * pub = new Publisher(meta, &_pubs);
return pub;
}
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();
}
}
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;
if (poll(&pfd, 1, timeout_ms) <= 0) {
/* timed out */
continue;
}
spinOnce();
}
}
private:
static const uint16_t kMaxSubscriptions = 100;
List<uORB::SubscriptionNode*> _subs;
List<uORB::PublicationNode*> _pubs;
uORB::SubscriptionNode* _sub_min_interval; /**< Points to the sub wtih the smallest interval
of all Subscriptions in _subs*/
};
#endif
}
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