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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Moved UOrbPubliction/Subscription to uORB::Publication/Subscription
This commit is contained in:
James Goppert
@@ -0,0 +1,39 @@
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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 Publication.cpp
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*
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*/
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#include "Publication.hpp"
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@@ -0,0 +1,115 @@
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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 Publication.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 <controllib/block/List.hpp>
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namespace uORB
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{
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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 PublicationBase : public ListNode<uORB::PublicationBase *>
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{
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public:
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PublicationBase(
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List<PublicationBase *> * 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 ~PublicationBase() {
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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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* Publication wrapper class
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*/
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template<class T>
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class Publication :
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public T, // this must be first!
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public PublicationBase
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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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Publication(
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List<PublicationBase *> * list,
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const struct orb_metadata *meta) :
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T(), // initialize data structure to zero
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PublicationBase(list, meta) {
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}
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virtual ~Publication() {}
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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 uORB
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@@ -0,0 +1,51 @@
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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 Subscription.cpp
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*
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*/
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#include "Subscription.hpp"
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namespace uORB
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{
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bool __EXPORT SubscriptionBase::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 uORB
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@@ -0,0 +1,134 @@
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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.
|
||||
* 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 Subscription.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 <controllib/block/List.hpp>
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namespace uORB
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{
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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 SubscriptionBase :
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public ListNode<SubscriptionBase *>
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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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SubscriptionBase(
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List<SubscriptionBase *> * 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 ~SubscriptionBase() {
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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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* Subscription wrapper class
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*/
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template<class T>
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class __EXPORT Subscription :
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public T, // this must be first!
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public SubscriptionBase
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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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Subscription(
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List<SubscriptionBase *> * 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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SubscriptionBase(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 ~Subscription() {}
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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 uORB
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@@ -41,4 +41,6 @@ MODULE_COMMAND = uorb
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MODULE_STACKSIZE = 4096
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SRCS = uORB.cpp \
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objects_common.cpp
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objects_common.cpp \
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Publication.cpp \
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Subscription.cpp
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