uORB move to PX4 platform layer

platforms/common/uORB/PublicationMulti.hpp

@@ -0,0 +1,135 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.hpp
+ *
+ */
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <systemlib/err.h>
+#include <uORB/uORB.h>
+#include "uORBDeviceNode.hpp"
+
+#include "Publication.hpp"
+
+namespace uORB
+{
+
+/**
+ * Base publication multi wrapper class
+ */
+template<typename T, uint8_t QSIZE = DefaultQueueSize<T>::value>
+class PublicationMulti : public PublicationBase
+{
+public:
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
+	 */
+	PublicationMulti(ORB_ID id) :
+		PublicationBase(id)
+	{}
+
+	PublicationMulti(const orb_metadata *meta) :
+		PublicationBase(static_cast<ORB_ID>(meta->o_id))
+	{}
+
+	bool advertise()
+	{
+		if (!advertised()) {
+			int instance = 0;
+			_handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, QSIZE);
+		}
+
+		return advertised();
+	}
+
+	/**
+	 * Publish the struct
+	 * @param data The uORB message struct we are updating.
+	 */
+	bool publish(const T &data)
+	{
+		if (!advertised()) {
+			advertise();
+		}
+
+		return (orb_publish(get_topic(), _handle, &data) == PX4_OK);
+	}
+
+	int get_instance() const
+	{
+		if (_handle) {
+			return static_cast<uORB::DeviceNode *>(_handle)->get_instance();
+		}
+
+		return -1;
+	}
+};
+
+/**
+ * The publication multi class with data embedded.
+ */
+template<typename T>
+class PublicationMultiData : public PublicationMulti<T>
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
+	 */
+	PublicationMultiData(ORB_ID id) : PublicationMulti<T>(id) {}
+	PublicationMultiData(const orb_metadata *meta) : PublicationMulti<T>(meta) {}
+
+	T	&get() { return _data; }
+	void	set(const T &data) { _data = data; }
+
+	// Publishes the embedded struct.
+	bool	update() { return PublicationMulti<T>::publish(_data); }
+	bool	update(const T &data)
+	{
+		_data = data;
+		return PublicationMulti<T>::publish(_data);
+	}
+
+private:
+	T _data{};
+};
+
+} // namespace uORB