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 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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/**
 * @file PublicationQueuedMulti.hpp
 *
 */

#pragma once

#include <px4_platform_common/defines.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>

namespace uORB
{

/**
 * Queued publication with queue length set as a message constant (ORB_QUEUE_LENGTH)
 */
template<typename T>
class PublicationQueuedMulti
{
public:

	/**
	 * Constructor
	 *
	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
	 */
	PublicationQueuedMulti(const orb_metadata *meta, uint8_t priority = ORB_PRIO_DEFAULT) :
		_meta(meta),
		_priority(priority)
	{}

	~PublicationQueuedMulti()
	{
		//orb_unadvertise(_handle);
	}

	/**
	 * Publish the struct
	 * @param data The uORB message struct we are updating.
	 */
	bool publish(const T &data)
	{
		if (_handle != nullptr) {
			return (orb_publish(_meta, _handle, &data) == PX4_OK);

		} else {
			int instance = 0;
			orb_advert_t handle = orb_advertise_multi_queue(_meta, &data, &instance, _priority, T::ORB_QUEUE_LENGTH);

			if (handle != nullptr) {
				_handle = handle;
				return true;
			}
		}

		return false;
	}

protected:
	const orb_metadata *_meta;

	orb_advert_t _handle{nullptr};

	const uint8_t _priority;
};

} // namespace uORB