mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-03 04:10:35 +08:00
Thomas Gubler
137 lines
3.8 KiB
C++
137 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014 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 px4_nodehandle.h
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*
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* PX4 Middleware Wrapper Node Handle
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*/
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#pragma once
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/* includes for all platforms */
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#include "px4_subscriber.h"
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#include "px4_publisher.h"
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#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
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/* includes when building for ros */
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#include "ros/ros.h"
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#include <list>
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#include <inttypes.h>
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#else
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/* includes when building for NuttX */
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#endif
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namespace px4
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{
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//XXX create abstract base class
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#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
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class NodeHandle :
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private ros::NodeHandle
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{
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public:
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NodeHandle() :
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ros::NodeHandle(),
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_subs(),
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_pubs()
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{}
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~NodeHandle() {
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//XXX empty lists
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};
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template<typename M>
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Subscriber * subscribe(const char *topic, void(*fp)(M)) {
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ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp);
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Subscriber * sub = new Subscriber(ros_sub);
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_subs.push_back(sub);
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return sub;
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}
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template<typename M>
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Publisher * advertise(const char *topic) {
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ros::Publisher ros_pub = ros::NodeHandle::advertise<M>(topic, kQueueSizeDefault);
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Publisher *pub = new Publisher(ros_pub);
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_pubs.push_back(pub);
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return pub;
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}
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void spin() { ros::spin(); }
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void spinOnce() { ros::spinOnce(); }
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private:
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static const uint32_t kQueueSizeDefault = 1000;
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std::list<Subscriber*> _subs;
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std::list<Publisher*> _pubs;
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};
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#else
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class __EXPORT NodeHandle
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{
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public:
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NodeHandle() :
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_subs(),
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_pubs()
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{}
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~NodeHandle() {};
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template<typename M>
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Subscriber * subscribe(const struct orb_metadata *meta, std::function<void(const M&)> callback) {
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unsigned interval = 0;//XXX decide how to wrap this, ros equivalent?
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//XXX
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Subscriber *sub = new SubscriberPX4<M>(meta, interval, callback, &_subs);
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return sub;
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}
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template<typename M>
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Publisher * advertise(const struct orb_metadata *meta) {
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//XXX
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Publisher * pub = new Publisher(meta, &_pubs);
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return pub;
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}
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void spinOnce();
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void spin() {
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while (true) { //XXX
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spinOnce();
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}
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}
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private:
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static const uint16_t kMaxSubscriptions = 100;
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List<uORB::SubscriptionNode*> _subs;
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List<uORB::PublicationNode*> _pubs;
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};
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#endif
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}
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