mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-01 16:50:35 +08:00
Julien Lecoeur
96 lines
2.7 KiB
C++
96 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2015 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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#include <px4_defines.h>
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namespace uORB
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{
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PublicationBase::PublicationBase(const struct orb_metadata *meta,
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int priority) :
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_meta(meta),
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_priority(priority),
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_instance(),
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_handle(nullptr)
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{
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}
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void PublicationBase::update(void *data)
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{
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if (_handle != nullptr) {
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int ret = orb_publish(getMeta(), getHandle(), data);
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if (ret != PX4_OK) { warnx("publish fail"); }
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} else {
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orb_advert_t handle;
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if (_priority > 0) {
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handle = orb_advertise_multi(
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getMeta(), data,
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&_instance, _priority);
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} else {
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handle = orb_advertise(getMeta(), data);
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}
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if (int64_t(handle) != PX4_ERROR) {
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setHandle(handle);
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} else {
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warnx("advert fail");
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}
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}
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}
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PublicationBase::~PublicationBase()
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{
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orb_unadvertise(getHandle());
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}
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PublicationNode::PublicationNode(const struct orb_metadata *meta,
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int priority,
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List<PublicationNode *> *list) :
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PublicationBase(meta, priority)
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{
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if (list != nullptr) { list->add(this); }
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}
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}
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