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Control lib update.

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This commit is contained in:
jgoppert
2015-10-20 10:48:10 -04:00
parent a57f8e2ce3
commit b9e461b028
12 changed files with 255 additions and 171 deletions
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src/modules/uORB/Subscription.cpp
+74 -16
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@@ -54,37 +54,89 @@
#include "topics/vehicle_attitude_setpoint.h"
#include "topics/vehicle_rates_setpoint.h"
#include "topics/rc_channels.h"
#include "topics/battery_status.h"
#include "topics/optical_flow.h"
#include "topics/distance_sensor.h"
#include "topics/home_position.h"
#include "topics/vehicle_control_mode.h"
#include "topics/actuator_armed.h"
#include "topics/att_pos_mocap.h"
#include "topics/vision_position_estimate.h"
#include <px4_defines.h>
namespace uORB
{
template<class T>
Subscription<T>::Subscription(
const struct orb_metadata *meta,
unsigned interval,
List<SubscriptionNode *> *list) :
T(), // initialize data structure to zero
SubscriptionNode(meta, interval, list)
SubscriptionBase::SubscriptionBase(const struct orb_metadata *meta,
unsigned interval, unsigned instance) :
_meta(meta),
_instance(instance),
_handle()
{
if (_instance > 0) {
_handle = orb_subscribe_multi(
getMeta(), instance);
} else {
_handle = orb_subscribe(getMeta());
}
if (_handle < 0) { warnx("sub failed"); }
orb_set_interval(getHandle(), interval);
}
bool SubscriptionBase::updated()
{
bool isUpdated = false;
int ret = orb_check(_handle, &isUpdated);
if (ret != PX4_OK) { warnx("orb check failed"); }
return isUpdated;
}
void SubscriptionBase::update(void *data)
{
if (updated()) {
int ret = orb_copy(_meta, _handle, data);
if (ret != PX4_OK) { warnx("orb copy failed"); }
}
}
SubscriptionBase::~SubscriptionBase()
{
int ret = orb_unsubscribe(_handle);
if (ret != PX4_OK) { warnx("orb unsubscribe failed"); }
}
template <class T>
Subscription<T>::Subscription(const struct orb_metadata *meta,
unsigned interval,
int instance,
List<SubscriptionNode *> *list) :
SubscriptionNode(meta, interval, instance, list),
_data() // initialize data structure to zero
{
}
template<class T>
Subscription<T>::~Subscription() {}
template<class T>
void *Subscription<T>::getDataVoidPtr()
template <class T>
Subscription<T>::~Subscription()
{
return (void *)(T *)(this);
}
template<class T>
T Subscription<T>::getData()
template <class T>
void Subscription<T>::update()
{
return T(*this);
SubscriptionBase::update((void *)(&_data));
}
template <class T>
const T &Subscription<T>::get() { return _data; }
template class __EXPORT Subscription<parameter_update_s>;
template class __EXPORT Subscription<actuator_controls_s>;
template class __EXPORT Subscription<vehicle_gps_position_s>;
@@ -104,5 +156,11 @@ template class __EXPORT Subscription<vehicle_rates_setpoint_s>;
template class __EXPORT Subscription<rc_channels_s>;
template class __EXPORT Subscription<vehicle_control_mode_s>;
template class __EXPORT Subscription<actuator_armed_s>;
template class __EXPORT Subscription<battery_status_s>;
template class __EXPORT Subscription<home_position_s>;
template class __EXPORT Subscription<optical_flow_s>;
template class __EXPORT Subscription<distance_sensor_s>;
template class __EXPORT Subscription<att_pos_mocap_s>;
template class __EXPORT Subscription<vision_position_estimate_s>;
} // namespace uORB