Reorganized directory structure - directory 'internal' pulled up one level. No logical changes.

2026-10-26 20:33:35 +08:00 · 2014-03-14 15:01:20 +04:00
parent ab34c94ba2
commit 15cbf96378
90 changed files with 165 additions and 166 deletions
@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <cassert>
+#include <uavcan/node/generic_subscriber.hpp>
+
+namespace uavcan
+{
+
+template <typename DataType_,
+          typename Callback = void(*)(const ReceivedDataStructure<DataType_>&),
+          unsigned int NumStaticReceivers = 2,
+          unsigned int NumStaticBufs = 1>
+class Subscriber : public GenericSubscriber<DataType_, DataType_,
+                                            typename TransferListenerInstantiationHelper<DataType_,
+                                                                                         NumStaticReceivers,
+                                                                                         NumStaticBufs>::Type>
+{
+    typedef typename TransferListenerInstantiationHelper<DataType_, NumStaticReceivers, NumStaticBufs>::Type
+        TransferListenerType;
+    typedef GenericSubscriber<DataType_, DataType_, TransferListenerType> BaseType;
+
+    Callback callback_;
+
+    void handleReceivedDataStruct(ReceivedDataStructure<DataType_>& msg)
+    {
+        if (try_implicit_cast<bool>(callback_, true))
+            callback_(msg);
+        else
+            handleFatalError("Invalid subscriber callback");
+    }
+
+public:
+    typedef DataType_ DataType;
+
+    Subscriber(Scheduler& scheduler, IAllocator& allocator)
+    : BaseType(scheduler, allocator)
+    , callback_()
+    {
+        StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindMessage>::check();
+    }
+
+    int start(const Callback& callback)
+    {
+        stop();
+
+        if (!try_implicit_cast<bool>(callback, true))
+        {
+            UAVCAN_TRACE("Subscriber", "Invalid callback");
+            return -1;
+        }
+        callback_ = callback;
+
+        return BaseType::startAsMessageListener();
+    }
+
+    using BaseType::stop;
+    using BaseType::getFailureCount;
+};
+
+}