forked from Archive/PX4-Autopilot
129 lines
3.4 KiB
C++
129 lines
3.4 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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 SubscriptionMultiArray.hpp
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <uORB/uORB.h>
|
|
|
|
#include <px4_platform_common/defines.h>
|
|
#include <lib/mathlib/mathlib.h>
|
|
|
|
#include "Subscription.hpp"
|
|
|
|
namespace uORB
|
|
{
|
|
|
|
/**
|
|
* An array of uORB::Subscriptions of the same topic
|
|
*/
|
|
template<typename T, uint8_t SIZE = ORB_MULTI_MAX_INSTANCES>
|
|
class SubscriptionMultiArray
|
|
{
|
|
public:
|
|
static_assert(SIZE <= ORB_MULTI_MAX_INSTANCES, "size must be <= uORB max instances");
|
|
|
|
static constexpr uint8_t size() { return SIZE; }
|
|
|
|
/**
|
|
* Constructor
|
|
*
|
|
* @param id The uORB ORB_ID enum for the topic.
|
|
*/
|
|
explicit SubscriptionMultiArray(ORB_ID id)
|
|
{
|
|
for (uint8_t i = 0; i < SIZE; i++) {
|
|
_subscriptions[i] = Subscription{id, i};
|
|
_subscriptions[i].subscribe();
|
|
}
|
|
}
|
|
|
|
~SubscriptionMultiArray() = default;
|
|
|
|
Subscription &operator [](int i) { return _subscriptions[i]; }
|
|
const Subscription &operator [](int i) const { return _subscriptions[i]; }
|
|
|
|
Subscription *begin() { return _subscriptions; }
|
|
Subscription *end() { return _subscriptions + SIZE; }
|
|
|
|
const Subscription *begin() const { return _subscriptions; }
|
|
const Subscription *end() const { return _subscriptions + SIZE; }
|
|
|
|
// true if any instance is advertised
|
|
bool advertised()
|
|
{
|
|
for (auto &s : _subscriptions) {
|
|
if (s.advertised()) {
|
|
return true;
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
// return the number of instances currently advertised
|
|
uint8_t advertised_count()
|
|
{
|
|
uint8_t count = 0;
|
|
|
|
for (auto &s : _subscriptions) {
|
|
if (s.advertised()) {
|
|
count++;
|
|
}
|
|
}
|
|
|
|
return count;
|
|
}
|
|
|
|
// true if any instance is updated
|
|
bool updated()
|
|
{
|
|
for (auto &s : _subscriptions) {
|
|
if (s.updated()) {
|
|
return true;
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
private:
|
|
Subscription _subscriptions[SIZE];
|
|
};
|
|
|
|
} // namespace uORB
|