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138 lines
4.1 KiB
C++
138 lines
4.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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 SubscriptionCallback.hpp
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*
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*/
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#pragma once
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#include <uORB/SubscriptionInterval.hpp>
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#include <containers/List.hpp>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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namespace uORB
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{
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// Subscription wrapper class with callbacks on new publications
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class SubscriptionCallback : public SubscriptionInterval, public ListNode<SubscriptionCallback *>
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{
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public:
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/**
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* Constructor
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*
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* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
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* @param interval_ms The requested maximum update interval in milliseconds.
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* @param instance The instance for multi sub.
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*/
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SubscriptionCallback(const orb_metadata *meta, uint8_t interval_ms = 0, uint8_t instance = 0) :
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SubscriptionInterval(meta, interval_ms, instance)
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{
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}
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virtual ~SubscriptionCallback()
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{
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unregisterCallback();
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};
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bool registerCallback()
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{
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bool ret = false;
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if (_subscription.get_node() && _subscription.get_node()->register_callback(this)) {
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// registered
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ret = true;
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} else {
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// force topic creation by subscribing with old API
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int fd = orb_subscribe_multi(_subscription.get_topic(), _subscription.get_instance());
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// try to register callback again
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if (_subscription.subscribe()) {
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if (_subscription.get_node() && _subscription.get_node()->register_callback(this)) {
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ret = true;
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}
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}
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orb_unsubscribe(fd);
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}
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return ret;
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}
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void unregisterCallback()
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{
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if (_subscription.get_node()) {
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_subscription.get_node()->unregister_callback(this);
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}
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}
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virtual void call() = 0;
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};
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// Subscription with callback that schedules a WorkItem
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class SubscriptionCallbackWorkItem : public SubscriptionCallback
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{
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public:
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/**
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* Constructor
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*
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* @param work_item The WorkItem that will be scheduled immediately on new publications.
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* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
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* @param instance The instance for multi sub.
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*/
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SubscriptionCallbackWorkItem(px4::WorkItem *work_item, const orb_metadata *meta, uint8_t instance = 0) :
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SubscriptionCallback(meta, 0, instance), // interval 0
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_work_item(work_item)
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{
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}
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virtual ~SubscriptionCallbackWorkItem() = default;
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void call() override
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{
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// schedule immediately if no interval, otherwise check time elapsed
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if ((_interval_us == 0) || (hrt_elapsed_time_atomic(&_last_update) >= _interval_us)) {
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_work_item->ScheduleNow();
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}
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}
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private:
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px4::WorkItem *_work_item;
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};
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} // namespace uORB
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