mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-14 00:30:34 +08:00
Anton Babushkin
89 lines
3.0 KiB
C++
89 lines
3.0 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.h
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* uORB subscription definition.
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#ifndef MAVLINK_ORB_SUBSCRIPTION_H_
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#define MAVLINK_ORB_SUBSCRIPTION_H_
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#include <systemlib/uthash/utlist.h>
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#include <drivers/drv_hrt.h>
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class MavlinkOrbSubscription
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{
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public:
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MavlinkOrbSubscription *next; ///< pointer to next subscription in list
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MavlinkOrbSubscription(const orb_id_t topic);
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~MavlinkOrbSubscription();
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/**
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* Check if subscription updated and get data.
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*
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* @return true only if topic was updated and data copied to buffer successfully.
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* If topic was not updated since last check it will return false but still copy the data.
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* If no data available data buffer will be filled with zeroes.
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*/
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bool update(uint64_t *time, void* data);
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/**
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* Copy topic data to given buffer.
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*
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* @return true only if topic data copied successfully.
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*/
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bool update(void* data);
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/**
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* Check if the topic has been published.
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*
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* This call will return true if the topic was ever published.
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* @return true if the topic has been published at least once.
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*/
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bool is_published();
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orb_id_t get_topic() const;
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private:
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const orb_id_t _topic; ///< topic metadata
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int _fd; ///< subscription handle
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bool _published; ///< topic was ever published
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};
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#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */
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