uORB::Subscription subscribe directly to uORB device node object

src/modules/uORB/SubscriptionPollable.cpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 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 SubscriptionPollable.cpp
+ *
+ */
+
+#include "SubscriptionPollable.hpp"
+#include <px4_defines.h>
+
+namespace uORB
+{
+
+SubscriptionPollableBase::SubscriptionPollableBase(const struct orb_metadata *meta, unsigned interval,
+		unsigned instance) :
+	_meta(meta),
+	_instance(instance)
+{
+	if (instance > 0) {
+		_handle = orb_subscribe_multi(_meta, instance);
+
+	} else {
+		_handle = orb_subscribe(_meta);
+	}
+
+	if (_handle < 0) {
+		PX4_ERR("%s sub failed", _meta->o_name);
+	}
+
+	if (interval > 0) {
+		orb_set_interval(_handle, interval);
+	}
+}
+
+bool SubscriptionPollableBase::updated()
+{
+	bool isUpdated = false;
+
+	if (orb_check(_handle, &isUpdated) != PX4_OK) {
+		PX4_ERR("%s check failed", _meta->o_name);
+	}
+
+	return isUpdated;
+}
+
+bool SubscriptionPollableBase::update(void *data)
+{
+	bool orb_updated = false;
+
+	if (updated()) {
+		if (orb_copy(_meta, _handle, data) != PX4_OK) {
+			PX4_ERR("%s copy failed", _meta->o_name);
+
+		} else {
+			orb_updated = true;
+		}
+	}
+
+	return orb_updated;
+}
+
+SubscriptionPollableBase::~SubscriptionPollableBase()
+{
+	if (orb_unsubscribe(_handle) != PX4_OK) {
+		PX4_ERR("%s unsubscribe failed", _meta->o_name);
+	}
+}
+
+SubscriptionPollableNode::SubscriptionPollableNode(const struct orb_metadata *meta, unsigned interval,
+		unsigned instance,
+		List<SubscriptionPollableNode *> *list)
+	: SubscriptionPollableBase(meta, interval, instance)
+{
+	if (list != nullptr) {
+		list->add(this);
+	}
+}
+
+} // namespace uORB