forked from Archive/PX4-Autopilot
137 lines
3.6 KiB
C++
137 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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 Publication.hpp
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*
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*/
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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 "Publication.hpp"
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namespace uORB
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{
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/**
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* Base publication multi wrapper class
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*/
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template<typename T, uint8_t QSIZE = DefaultQueueSize<T>::value>
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class PublicationMulti : public PublicationBase
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{
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public:
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/**
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* Constructor
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*
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* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
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*/
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PublicationMulti(ORB_ID id) :
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PublicationBase(id)
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{}
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PublicationMulti(const orb_metadata *meta) :
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PublicationBase(static_cast<ORB_ID>(meta->o_id))
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{}
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bool advertise()
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{
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if (!advertised()) {
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int instance = 0;
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_handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, QSIZE);
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}
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return advertised();
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}
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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 T &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 (orb_publish(get_topic(), _handle, &data) == PX4_OK);
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}
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int get_instance()
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{
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// advertise if not already advertised
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if (advertise()) {
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return Manager::orb_get_instance(_handle);
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}
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return -1;
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}
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};
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/**
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* The publication multi class with data embedded.
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*/
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template<typename T>
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class PublicationMultiData : public PublicationMulti<T>
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{
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public:
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/**
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* Constructor
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*
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* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
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*/
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PublicationMultiData(ORB_ID id) : PublicationMulti<T>(id) {}
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PublicationMultiData(const orb_metadata *meta) : PublicationMulti<T>(meta) {}
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T &get() { return _data; }
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void set(const T &data) { _data = data; }
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// Publishes the embedded struct.
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bool update() { return PublicationMulti<T>::publish(_data); }
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bool update(const T &data)
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{
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_data = data;
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return PublicationMulti<T>::publish(_data);
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}
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private:
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T _data{};
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};
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} // namespace uORB
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