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112 lines
3.6 KiB
C++
112 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 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 SubscriptionArray.hpp
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*
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* Simple array that contains a dynamic amount of Subscription<T> instances
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*
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* @author Beat Küng <beat-kueng@gmx.net>
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*/
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#pragma once
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#include <uORB/Subscription.hpp>
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class SubscriptionArray
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{
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public:
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SubscriptionArray() = default;
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~SubscriptionArray();
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/**
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* Get a subscription
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* @param meta ORB_ID(topic)
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* @param subscription returned subscription (output parameter)
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* @param instance topic instance
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* @return true on success, false otherwise (subscription set to nullptr)
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*/
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template<class T>
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bool get(const struct orb_metadata *meta, uORB::Subscription<T> *&subscription, unsigned instance = 0);
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/**
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* update all subscriptions (if new data is available)
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*/
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void update();
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/**
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* update all subscriptions
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*/
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void forcedUpdate();
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private:
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void cleanup();
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bool resizeSubscriptions();
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uORB::SubscriptionNode **_subscriptions{nullptr};
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int _subscriptions_count{0}; ///< number of valid subscriptions
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int _subscriptions_size{0}; ///< actual size of the _subscriptions array
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};
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template<class T>
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bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::Subscription<T> *&subscription, unsigned instance)
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{
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// does it already exist?
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for (int i = 0; i < _subscriptions_count; ++i) {
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if (_subscriptions[i]->getMeta() == meta && _subscriptions[i]->getInstance() == instance) {
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// we know the type must be correct, so we can use reinterpret_cast (dynamic_cast is not available)
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subscription = reinterpret_cast<uORB::Subscription<T>*>(_subscriptions[i]);
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return true;
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}
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}
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// resize if needed
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if (_subscriptions_count >= _subscriptions_size) {
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if (!resizeSubscriptions()) {
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subscription = nullptr;
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return false;
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}
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}
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subscription = new uORB::Subscription<T>(meta, 0, instance);
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if (!subscription) {
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return false;
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}
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_subscriptions[_subscriptions_count++] = subscription;
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return true;
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}
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