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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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107 lines
2.8 KiB
C++
107 lines
2.8 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 mavlink_orb_subscription.cpp
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* uORB subscription implementation.
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#include <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#include <uORB/uORB.h>
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#include <stdio.h>
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#include "mavlink_orb_subscription.h"
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MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
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_fd(orb_subscribe(_topic)),
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_published(false),
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_topic(topic),
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_last_check(0),
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next(nullptr)
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{
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_data = malloc(topic->o_size);
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memset(_data, 0, topic->o_size);
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}
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MavlinkOrbSubscription::~MavlinkOrbSubscription()
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{
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close(_fd);
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free(_data);
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}
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const orb_id_t
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MavlinkOrbSubscription::get_topic()
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{
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return _topic;
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}
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void *
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MavlinkOrbSubscription::get_data()
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{
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return _data;
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}
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bool
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MavlinkOrbSubscription::update(const hrt_abstime t)
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{
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if (_last_check != t) {
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_last_check = t;
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bool updated;
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orb_check(_fd, &updated);
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if (updated) {
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orb_copy(_topic, _fd, _data);
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return true;
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}
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}
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return false;
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}
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bool
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MavlinkOrbSubscription::is_published()
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{
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bool updated;
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orb_check(_fd, &updated);
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if (updated) {
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_published = true;
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}
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return _published;
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}
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