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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_publisher.h
*
* PX4 Publisher API, implements publishing of messages from a nodehandle
*/
#pragma once
#if defined(__PX4_ROS)
/* includes when building for ros */
#include "ros/ros.h"
#else
/* includes when building for NuttX */
#include <uORB/Publication.hpp>
#include <containers/List.hpp>
#endif
#include <platforms/px4_message.h>
namespace px4
{
/**
* Untemplated publisher base class
* */
class __EXPORT PublisherBase
{
public:
PublisherBase() {};
~PublisherBase() {};
};
/**
* Publisher base class, templated with the message type
* */
template <typename T>
class __EXPORT Publisher
{
public:
Publisher() {};
~Publisher() {};
virtual int publish(const T &msg) = 0;
};
#if defined(__PX4_ROS)
template <typename T>
class PublisherROS :
public Publisher<T>
{
public:
/**
* Construct Publisher by providing a ros::Publisher
* @param ros_pub the ros publisher which will be used to perform the publications
*/
PublisherROS(ros::NodeHandle *rnh) :
Publisher<T>(),
_ros_pub(rnh->advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault))
{}
~PublisherROS() {};
/** Publishes msg
* @param msg the message which is published to the topic
*/
int publish(const T &msg)
{
_ros_pub.publish(msg.data());
return 0;
}
protected:
static const uint32_t kQueueSizeDefault = 1; /**< Size of queue for ROS */
ros::Publisher _ros_pub; /**< Handle to the ros publisher */
};
#else
/**
* Because we maintain a list of publishers we need a node class
*/
class __EXPORT PublisherNode :
public ListNode<PublisherNode *>
{
public:
PublisherNode() :
ListNode()
{}
virtual ~PublisherNode() {}
virtual void update() = 0;
};
template <typename T>
class __EXPORT PublisherUORB :
public Publisher<T>,
public PublisherNode
{
public:
/**
* Construct Publisher by providing orb meta data
*/
PublisherUORB() :
Publisher<T>(),
PublisherNode(),
_uorb_pub(new uORB::PublicationBase(T::handle()))
{}
~PublisherUORB() {
delete _uorb_pub;
};
/** Publishes msg
* @param msg the message which is published to the topic
*/
int publish(const T &msg)
{
_uorb_pub->update((void *)&(msg.data()));
return 0;
}
/**
* Empty callback for list traversal
*/
void update() {} ;
private:
uORB::PublicationBase * _uorb_pub; /**< Handle to the publisher */
};
#endif
}
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