uORB: generate ORBTypeMap and example usage (uORB::Publication2)

msg/templates/uorb/msg.h.em

@@ -70,6 +70,10 @@ topic_name = spec.short_name
 
 #include <uORB/uORB.h>
 
+#ifdef __cplusplus
+#include <uORB/topics/uORBTopics.hpp>
+#endif
+
 @##############################
 @# Includes for dependencies
 @##############################
@@ -135,5 +139,11 @@ ORB_DECLARE(@multi_topic);
 @[end for]
 
 #ifdef __cplusplus
+@[for multi_topic in topics]@
+template<> struct ORBTypeMap<ORB_ID::@multi_topic> {
+    using type = @(uorb_struct);
+};
+@[end for]
+
 void print_message(const @uorb_struct& message);
 #endif

msg/templates/uorb/uORBTopics.hpp.em

@@ -73,4 +73,6 @@ enum class ORB_ID : uint8_t {
 	INVALID
 };
 
+template<ORB_ID> struct ORBTypeMap;
+
 const struct orb_metadata *get_orb_meta(ORB_ID id);

src/modules/uORB/Publication2.hpp

@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 Publication2.hpp
+ *
+ */
+
+//#warning uORB::Publication2 is under development and not intended for regular usage
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <systemlib/err.h>
+
+#include <uORB/uORB.h>
+#include "uORBDeviceNode.hpp"
+#include <uORB/topics/uORBTopics.hpp>
+
+namespace uORB
+{
+
+class Publication2Base
+{
+public:
+	bool advertised() const { return _handle != nullptr; }
+	bool unadvertise() { return (DeviceNode::unadvertise(_handle) == PX4_OK); }
+
+protected:
+	Publication2Base() = default;
+	~Publication2Base()
+	{
+		if (_handle != nullptr) {
+			// don't automatically unadvertise queued publications (eg vehicle_command)
+			if (static_cast<DeviceNode *>(_handle)->get_queue_size() == 1) {
+				unadvertise();
+			}
+		}
+	}
+
+	orb_advert_t _handle{nullptr};
+};
+
+/**
+ * uORB publication wrapper class
+ */
+template<ORB_ID T, uint8_t ORB_QSIZE = 1>
+class Publication2 : public Publication2Base
+{
+public:
+	Publication2() = default;
+
+	bool advertise()
+	{
+		if (!advertised()) {
+			_handle = orb_advertise_queue(get_orb_meta(T), nullptr, ORB_QSIZE);
+		}
+
+		return advertised();
+	}
+
+	using S = typename ORBTypeMap<T>::type;
+
+	/**
+	 * Publish the struct
+	 * @param data The uORB message struct we are updating.
+	 */
+	bool publish(const S &data)
+	{
+		if (!advertised()) {
+			advertise();
+		}
+
+		return (DeviceNode::publish(get_orb_meta(T), _handle, &data) == PX4_OK);
+	}
+};
+
+} // namespace uORB