uORB move to PX4 platform layer

platforms/common/uORB/Subscription.hpp

@@ -0,0 +1,226 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2019 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 Subscription.hpp
+ *
+ */
+
+#pragma once
+
+#include <uORB/uORB.h>
+#include <uORB/topics/uORBTopics.hpp>
+
+#include <px4_platform_common/defines.h>
+#include <lib/mathlib/mathlib.h>
+
+#include "uORBDeviceNode.hpp"
+#include "uORBManager.hpp"
+#include "uORBUtils.hpp"
+
+namespace uORB
+{
+
+class SubscriptionCallback;
+
+// Base subscription wrapper class
+class Subscription
+{
+public:
+
+	/**
+	 * Constructor
+	 *
+	 * @param id The uORB ORB_ID enum for the topic.
+	 * @param instance The instance for multi sub.
+	 */
+	Subscription(ORB_ID id, uint8_t instance = 0) :
+		_orb_id(id),
+		_instance(instance)
+	{
+		subscribe();
+	}
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
+	 * @param instance The instance for multi sub.
+	 */
+	Subscription(const orb_metadata *meta, uint8_t instance = 0) :
+		_orb_id((meta == nullptr) ? ORB_ID::INVALID : static_cast<ORB_ID>(meta->o_id)),
+		_instance(instance)
+	{
+		subscribe();
+	}
+
+	// Copy constructor
+	Subscription(const Subscription &other) : _orb_id(other._orb_id), _instance(other._instance) {}
+
+	// Move constructor
+	Subscription(const Subscription &&other) noexcept : _orb_id(other._orb_id), _instance(other._instance) {}
+
+	// copy assignment
+	Subscription &operator=(const Subscription &other)
+	{
+		unsubscribe();
+		_orb_id = other._orb_id;
+		_instance = other._instance;
+		return *this;
+	}
+
+	// move assignment
+	Subscription &operator=(Subscription &&other) noexcept
+	{
+		unsubscribe();
+		_orb_id = other._orb_id;
+		_instance = other._instance;
+		return *this;
+	}
+
+	~Subscription()
+	{
+		unsubscribe();
+	}
+
+	bool subscribe();
+	void unsubscribe();
+
+	bool valid() const { return _node != nullptr; }
+	bool advertised()
+	{
+		if (valid()) {
+			return _node->is_advertised();
+		}
+
+		// try to initialize
+		if (subscribe()) {
+			// check again if valid
+			if (valid()) {
+				return _node->is_advertised();
+			}
+		}
+
+		return false;
+	}
+
+	/**
+	 * Check if there is a new update.
+	 */
+	bool updated() { return advertised() && _node->updates_available(_last_generation); }
+
+	/**
+	 * Update the struct
+	 * @param dst The uORB message struct we are updating.
+	 */
+	bool update(void *dst) { return updated() && _node->copy(dst, _last_generation); }
+
+	/**
+	 * Copy the struct
+	 * @param dst The uORB message struct we are updating.
+	 */
+	bool copy(void *dst) { return advertised() && _node->copy(dst, _last_generation); }
+
+	/**
+	 * Change subscription instance
+	 * @param instance The new multi-Subscription instance
+	 */
+	bool ChangeInstance(uint8_t instance);
+
+	uint8_t  get_instance() const { return _instance; }
+	unsigned get_last_generation() const { return _last_generation; }
+	orb_id_t get_topic() const { return get_orb_meta(_orb_id); }
+
+protected:
+
+	friend class SubscriptionCallback;
+	friend class SubscriptionCallbackWorkItem;
+
+	DeviceNode *get_node() { return _node; }
+
+	DeviceNode *_node{nullptr};
+
+	unsigned _last_generation{0}; /**< last generation the subscriber has seen */
+
+	ORB_ID _orb_id{ORB_ID::INVALID};
+	uint8_t _instance{0};
+};
+
+// Subscription wrapper class with data
+template<class T>
+class SubscriptionData : public Subscription
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param id The uORB metadata ORB_ID enum for the topic.
+	 * @param instance The instance for multi sub.
+	 */
+	SubscriptionData(ORB_ID id, uint8_t instance = 0) :
+		Subscription(id, instance)
+	{
+		copy(&_data);
+	}
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
+	 * @param instance The instance for multi sub.
+	 */
+	SubscriptionData(const orb_metadata *meta, uint8_t instance = 0) :
+		Subscription(meta, instance)
+	{
+		copy(&_data);
+	}
+
+	~SubscriptionData() = default;
+
+	// no copy, assignment, move, move assignment
+	SubscriptionData(const SubscriptionData &) = delete;
+	SubscriptionData &operator=(const SubscriptionData &) = delete;
+	SubscriptionData(SubscriptionData &&) = delete;
+	SubscriptionData &operator=(SubscriptionData &&) = delete;
+
+	// update the embedded struct.
+	bool update() { return Subscription::update((void *)(&_data)); }
+
+	const T &get() const { return _data; }
+
+private:
+
+	T _data{};
+};
+
+} // namespace uORB