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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Publication2.hpp
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*
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*/
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//#warning uORB::Publication2 is under development and not intended for regular usage
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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#include "uORBDeviceNode.hpp"
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#include <uORB/topics/uORBTopics.hpp>
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namespace uORB
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{
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class Publication2Base
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{
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public:
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bool advertised() const { return _handle != nullptr; }
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bool unadvertise() { return (DeviceNode::unadvertise(_handle) == PX4_OK); }
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protected:
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Publication2Base() = default;
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~Publication2Base()
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{
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if (_handle != nullptr) {
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// don't automatically unadvertise queued publications (eg vehicle_command)
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if (static_cast<DeviceNode *>(_handle)->get_queue_size() == 1) {
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unadvertise();
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}
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}
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}
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orb_advert_t _handle{nullptr};
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};
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/**
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* uORB publication wrapper class
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*/
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template<ORB_ID T, uint8_t ORB_QSIZE = 1>
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class Publication2 : public Publication2Base
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{
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public:
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Publication2() = default;
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bool advertise()
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{
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if (!advertised()) {
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_handle = orb_advertise_queue(get_orb_meta(T), nullptr, ORB_QSIZE);
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}
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return advertised();
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}
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using S = typename ORBTypeMap<T>::type;
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/**
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* Publish the struct
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* @param data The uORB message struct we are updating.
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*/
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bool publish(const S &data)
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{
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if (!advertised()) {
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advertise();
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}
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return (DeviceNode::publish(get_orb_meta(T), _handle, &data) == PX4_OK);
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}
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};
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} // namespace uORB
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