mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 19:33:33 +08:00
Moved UOrbPubliction/Subscription to uORB::Publication/Subscription
This commit is contained in:
James Goppert
@@ -43,8 +43,8 @@
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#include "Block.hpp"
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#include "BlockParam.hpp"
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#include "../uorb/UOrbSubscription.hpp"
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#include "../uorb/UOrbPublication.hpp"
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#include "uORB/Subscription.hpp"
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#include "uORB/Publication.hpp"
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namespace control
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{
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@@ -100,7 +100,7 @@ void Block::updateParams()
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void Block::updateSubscriptions()
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{
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UOrbSubscriptionBase *sub = getSubscriptions().getHead();
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uORB::SubscriptionBase *sub = getSubscriptions().getHead();
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int count = 0;
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while (sub != NULL) {
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@@ -118,7 +118,7 @@ void Block::updateSubscriptions()
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void Block::updatePublications()
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{
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UOrbPublicationBase *pub = getPublications().getHead();
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uORB::PublicationBase *pub = getPublications().getHead();
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int count = 0;
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while (pub != NULL) {
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@@ -44,6 +44,12 @@
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#include "List.hpp"
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// forward declaration
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namespace uORB {
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class SubscriptionBase;
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class PublicationBase;
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}
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namespace control
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{
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@@ -55,8 +61,6 @@ static const uint8_t blockNameLengthMax = 80;
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// forward declaration
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class BlockParamBase;
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class UOrbSubscriptionBase;
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class UOrbPublicationBase;
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class SuperBlock;
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/**
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@@ -79,15 +83,15 @@ public:
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protected:
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// accessors
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SuperBlock *getParent() { return _parent; }
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List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
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List<UOrbPublicationBase *> & getPublications() { return _publications; }
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List<uORB::SubscriptionBase *> & getSubscriptions() { return _subscriptions; }
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List<uORB::PublicationBase *> & getPublications() { return _publications; }
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List<BlockParamBase *> & getParams() { return _params; }
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// attributes
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const char *_name;
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SuperBlock *_parent;
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float _dt;
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List<UOrbSubscriptionBase *> _subscriptions;
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List<UOrbPublicationBase *> _publications;
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List<uORB::SubscriptionBase *> _subscriptions;
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List<uORB::PublicationBase *> _publications;
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List<BlockParamBase *> _params;
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};
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@@ -37,7 +37,5 @@
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SRCS = test_params.c \
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block/Block.cpp \
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block/BlockParam.cpp \
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uorb/UOrbPublication.cpp \
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uorb/UOrbSubscription.cpp \
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uorb/blocks.cpp \
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blocks.cpp
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@@ -1,39 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file UOrbPublication.cpp
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*
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*/
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#include "UOrbPublication.hpp"
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@@ -1,118 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file UOrbPublication.h
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*
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*/
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#pragma once
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#include <uORB/uORB.h>
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#include "../block/Block.hpp"
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#include "../block/List.hpp"
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namespace control
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{
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class Block;
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/**
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* Base publication warapper class, used in list traversal
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* of various publications.
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*/
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class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
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{
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public:
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UOrbPublicationBase(
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List<UOrbPublicationBase *> * list,
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const struct orb_metadata *meta) :
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_meta(meta),
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_handle(-1) {
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if (list != NULL) list->add(this);
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}
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void update() {
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if (_handle > 0) {
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orb_publish(getMeta(), getHandle(), getDataVoidPtr());
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} else {
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setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
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}
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}
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virtual void *getDataVoidPtr() = 0;
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virtual ~UOrbPublicationBase() {
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orb_unsubscribe(getHandle());
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}
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const struct orb_metadata *getMeta() { return _meta; }
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int getHandle() { return _handle; }
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protected:
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void setHandle(orb_advert_t handle) { _handle = handle; }
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const struct orb_metadata *_meta;
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orb_advert_t _handle;
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};
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/**
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* UOrb Publication wrapper class
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*/
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template<class T>
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class UOrbPublication :
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public T, // this must be first!
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public UOrbPublicationBase
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{
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public:
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/**
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* Constructor
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*
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* @param list A list interface for adding to list during construction
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* @param meta The uORB metadata (usually from the ORB_ID() macro)
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* for the topic.
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*/
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UOrbPublication(
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List<UOrbPublicationBase *> * list,
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const struct orb_metadata *meta) :
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T(), // initialize data structure to zero
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UOrbPublicationBase(list, meta) {
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}
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virtual ~UOrbPublication() {}
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/*
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* XXX
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* This function gets the T struct, assuming
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* the struct is the first base class, this
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* should use dynamic cast, but doesn't
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* seem to be available
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*/
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void *getDataVoidPtr() { return (void *)(T *)(this); }
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};
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} // namespace control
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@@ -1,51 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file UOrbSubscription.cpp
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*
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*/
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#include "UOrbSubscription.hpp"
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namespace control
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{
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bool __EXPORT UOrbSubscriptionBase::updated()
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{
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bool isUpdated = false;
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orb_check(_handle, &isUpdated);
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return isUpdated;
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}
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} // namespace control
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@@ -1,137 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
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* are met:
|
||||
*
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||||
* 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
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file UOrbSubscription.h
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*
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*/
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#pragma once
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#include <uORB/uORB.h>
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#include "../block/Block.hpp"
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#include "../block/List.hpp"
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namespace control
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{
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class Block;
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/**
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* Base subscription warapper class, used in list traversal
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* of various subscriptions.
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*/
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class __EXPORT UOrbSubscriptionBase :
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public ListNode<control::UOrbSubscriptionBase *>
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{
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public:
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// methods
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/**
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* Constructor
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*
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* @param meta The uORB metadata (usually from the ORB_ID() macro)
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* for the topic.
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*/
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UOrbSubscriptionBase(
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List<UOrbSubscriptionBase *> * list,
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const struct orb_metadata *meta) :
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_meta(meta),
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_handle() {
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if (list != NULL) list->add(this);
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}
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bool updated();
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void update() {
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if (updated()) {
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orb_copy(_meta, _handle, getDataVoidPtr());
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}
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}
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virtual void *getDataVoidPtr() = 0;
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virtual ~UOrbSubscriptionBase() {
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orb_unsubscribe(_handle);
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}
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// accessors
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const struct orb_metadata *getMeta() { return _meta; }
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int getHandle() { return _handle; }
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protected:
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// accessors
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void setHandle(int handle) { _handle = handle; }
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// attributes
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const struct orb_metadata *_meta;
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int _handle;
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};
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/**
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* UOrb Subscription wrapper class
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*/
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template<class T>
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class __EXPORT UOrbSubscription :
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public T, // this must be first!
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public UOrbSubscriptionBase
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{
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public:
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/**
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* Constructor
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*
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* @param list A list interface for adding to list during construction
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* @param meta The uORB metadata (usually from the ORB_ID() macro)
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* for the topic.
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* @param interval The minimum interval in milliseconds between updates
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*/
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UOrbSubscription(
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List<UOrbSubscriptionBase *> * list,
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const struct orb_metadata *meta, unsigned interval) :
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T(), // initialize data structure to zero
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UOrbSubscriptionBase(list, meta) {
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setHandle(orb_subscribe(getMeta()));
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orb_set_interval(getHandle(), interval);
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}
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/**
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* Deconstructor
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*/
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virtual ~UOrbSubscription() {}
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/*
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* XXX
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* This function gets the T struct, assuming
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* the struct is the first base class, this
|
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* should use dynamic cast, but doesn't
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* seem to be available
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*/
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void *getDataVoidPtr() { return (void *)(T *)(this); }
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T getData() { return T(*this); }
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};
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} // namespace control
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@@ -62,8 +62,8 @@ extern "C" {
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}
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#include "../blocks.hpp"
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#include "UOrbSubscription.hpp"
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#include "UOrbPublication.hpp"
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#include <uORB/Subscription.hpp>
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#include <uORB/Publication.hpp>
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namespace control
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{
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@@ -94,16 +94,16 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
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{
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protected:
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// subscriptions
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UOrbSubscription<vehicle_attitude_s> _att;
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UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
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UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
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UOrbSubscription<vehicle_global_position_s> _pos;
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UOrbSubscription<position_setpoint_triplet_s> _missionCmd;
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UOrbSubscription<manual_control_setpoint_s> _manual;
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UOrbSubscription<vehicle_status_s> _status;
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UOrbSubscription<parameter_update_s> _param_update;
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uORB::Subscription<vehicle_attitude_s> _att;
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uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd;
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uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
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uORB::Subscription<vehicle_global_position_s> _pos;
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uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
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uORB::Subscription<manual_control_setpoint_s> _manual;
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uORB::Subscription<vehicle_status_s> _status;
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uORB::Subscription<parameter_update_s> _param_update;
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// publications
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UOrbPublication<actuator_controls_s> _actuators;
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uORB::Publication<actuator_controls_s> _actuators;
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public:
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BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
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virtual ~BlockUorbEnabledAutopilot();
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Reference in New Issue
Block a user