mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-26 16:50:34 +08:00
Matthias Grob
109 lines
3.0 KiB
C++
109 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2017 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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#include <px4_defines.h>
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namespace uORB
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{
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SubscriptionBase::SubscriptionBase(const struct orb_metadata *meta, unsigned interval, unsigned instance) :
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_meta(meta),
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_instance(instance)
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{
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if (instance > 0) {
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_handle = orb_subscribe_multi(_meta, instance);
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} else {
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_handle = orb_subscribe(_meta);
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}
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if (_handle < 0) {
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PX4_ERR("%s sub failed", _meta->o_name);
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}
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if (interval > 0) {
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orb_set_interval(_handle, interval);
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}
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}
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bool SubscriptionBase::updated()
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{
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bool isUpdated = false;
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if (orb_check(_handle, &isUpdated) != PX4_OK) {
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PX4_ERR("%s check failed", _meta->o_name);
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}
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return isUpdated;
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}
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bool SubscriptionBase::update(void *data)
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{
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bool orb_updated = false;
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if (updated()) {
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if (orb_copy(_meta, _handle, data) != PX4_OK) {
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PX4_ERR("%s copy failed", _meta->o_name);
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} else {
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orb_updated = true;
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}
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}
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return orb_updated;
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}
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SubscriptionBase::~SubscriptionBase()
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{
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if (orb_unsubscribe(_handle) != PX4_OK) {
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PX4_ERR("%s unsubscribe failed", _meta->o_name);
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}
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}
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SubscriptionNode::SubscriptionNode(const struct orb_metadata *meta, unsigned interval, unsigned instance,
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List<SubscriptionNode *> *list)
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: SubscriptionBase(meta, interval, instance)
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{
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if (list != nullptr) {
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list->add(this);
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}
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}
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} // namespace uORB
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