fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 11:30:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

uORB::Publication simplify and cleanup

Browse Source 
- base class is now template
 - drop linked list
 - virtualization no longer required
This commit is contained in:
Daniel Agar
2019-06-12 08:48:19 -04:00
committed by GitHub
parent 57fc6eb4b8
commit 79d4c09d59
26 changed files with 128 additions and 420 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uORB/CMakeLists.txt
-1
View File
@@ -41,7 +41,6 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to plat
MAIN uorb
STACK_MAIN 2100
SRCS
Publication.cpp
Subscription.cpp
SubscriptionPollable.cpp
uORB.cpp
src/modules/uORB/Publication.cpp
-99
View File
@@ -1,99 +0,0 @@
/****************************************************************************
*
* 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 Publication.cpp
*
*/
#include "Publication.hpp"
#include <px4_defines.h>
namespace uORB
{
PublicationBase::PublicationBase(const struct orb_metadata *meta, int priority) :
_meta(meta),
_priority(priority)
{
}
PublicationBase::~PublicationBase()
{
orb_unadvertise(_handle);
}
bool PublicationBase::update(void *data)
{
bool updated = false;
if (_handle != nullptr) {
if (orb_publish(_meta, _handle, data) != PX4_OK) {
PX4_ERR("%s publish fail", _meta->o_name);
} else {
updated = true;
}
} else {
orb_advert_t handle = nullptr;
if (_priority > 0) {
int instance;
handle = orb_advertise_multi(_meta, data, &instance, _priority);
} else {
handle = orb_advertise(_meta, data);
}
if (handle != nullptr) {
_handle = handle;
updated = true;
} else {
PX4_ERR("%s advert fail", _meta->o_name);
}
}
return updated;
}
PublicationNode::PublicationNode(const struct orb_metadata *meta, int priority, List<PublicationNode *> *list) :
PublicationBase(meta, priority)
{
if (list != nullptr) {
list->add(this);
}
}
} // namespace uORB
src/modules/uORB/Publication.hpp
+51 -76
View File
@@ -39,7 +39,6 @@
#pragma once
#include <uORB/uORB.h>
#include <containers/List.hpp>
#include <systemlib/err.h>
namespace uORB
@@ -49,7 +48,8 @@ namespace uORB
* Base publication wrapper class, used in list traversal
* of various publications.
*/
class __EXPORT PublicationBase
template<typename T>
class Publication
{
public:
@@ -61,39 +61,61 @@ public:
* @param priority The priority for multi pub/sub, 0-based, -1 means
* don't publish as multi
*/
PublicationBase(const struct orb_metadata *meta, int priority = -1);
Publication(const orb_metadata *meta, int priority = -1) : _meta(meta), _priority(priority) {}
virtual ~PublicationBase();
// no copy, assignment, move, move assignment
PublicationBase(const PublicationBase &) = delete;
PublicationBase &operator=(const PublicationBase &) = delete;
PublicationBase(PublicationBase &&) = delete;
PublicationBase &operator=(PublicationBase &&) = delete;
~Publication() { orb_unadvertise(_handle); }
/**
* Update the struct
* Publish the struct
* @param data The uORB message struct we are updating.
*/
bool update(void *data);
bool publish(const T &data)
{
bool updated = false;
if (_handle != nullptr) {
if (orb_publish(_meta, _handle, &data) != PX4_OK) {
PX4_ERR("%s publish fail", _meta->o_name);
} else {
updated = true;
}
} else {
orb_advert_t handle = nullptr;
if (_priority > 0) {
int instance;
handle = orb_advertise_multi(_meta, &data, &instance, _priority);
} else {
handle = orb_advertise(_meta, &data);
}
if (handle != nullptr) {
_handle = handle;
updated = true;
} else {
PX4_ERR("%s advert fail", _meta->o_name);
}
}
return updated;
}
protected:
const struct orb_metadata *_meta;
const orb_metadata *_meta;
const int _priority;
orb_advert_t _handle{nullptr};
};
/**
* alias class name so it is clear that the base class
* can be used by itself if desired
*/
typedef PublicationBase PublicationTiny;
/**
* The publication base class as a list node.
*/
class __EXPORT PublicationNode : public PublicationBase, public ListNode<PublicationNode *>
template<typename T>
class PublicationData : public Publication<T>
{
public:
/**
@@ -102,70 +124,23 @@ public:
* @param meta The uORB metadata (usually from
* the ORB_ID() macro) for the topic.
* @param priority The priority for multi pub, 0-based.
* @param list A list interface for adding to
* list during construction
*/
PublicationNode(const struct orb_metadata *meta, int priority = -1, List<PublicationNode *> *list = nullptr);
virtual ~PublicationNode() override = default;
PublicationData(const orb_metadata *meta, int priority = -1) : Publication<T>(meta, priority) {}
~PublicationData() = default;
/**
* This function is the callback for list traversal
* updates, a child class must implement it.
*/
virtual bool update() = 0;
};
T &get() { return _data; }
void set(const T &data) { _data = data; }
/**
* Publication wrapper class
*/
template<class T>
class __EXPORT Publication final : public PublicationNode
{
public:
/**
* Constructor
*
* @param meta The uORB metadata (usually from
* the ORB_ID() macro) for the topic.
* @param priority The priority for multi pub, 0-based.
* @param list A list interface for adding to
* list during construction
*/
Publication(const struct orb_metadata *meta, int priority = -1, List<PublicationNode *> *list = nullptr) :
PublicationNode(meta, priority, list),
_data()
{
}
~Publication() override = default;
// no copy, assignment, move, move assignment
Publication(const Publication &) = delete;
Publication &operator=(const Publication &) = delete;
Publication(Publication &&) = delete;
Publication &operator=(Publication &&) = delete;
/*
* This function gets the T struct
* */
T &get() { return _data; }
/**
* Create an update function that uses the embedded struct.
*/
bool update() override
{
return PublicationBase::update((void *)(&_data));
}
bool update(const T &data)
// Publishes the embedded struct.
bool update() { return Publication<T>::publish(_data); }
bool update(const T &data)
{
_data = data;
return update();
return Publication<T>::publish(_data);
}
private:
T _data;
T _data{};
};
} // namespace uORB