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313 lines
8.1 KiB
C++
313 lines
8.1 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 px4_nodehandle.h
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*
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* PX4 Middleware Wrapper Node Handle
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*/
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#pragma once
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/* includes for all platforms */
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#include "px4_subscriber.h"
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#include "px4_publisher.h"
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#include "px4_middleware.h"
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#include "px4_app.h"
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#if defined(__PX4_ROS)
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/* includes when building for ros */
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#include "ros/ros.h"
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#include <list>
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#define __STDC_FORMAT_MACROS
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#include <inttypes.h>
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#include <type_traits>
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#else
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/* includes when building for NuttX */
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#include <px4_posix.h>
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#include <poll.h>
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#endif
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#include <functional>
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namespace px4
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{
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#if defined(__PX4_ROS)
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class NodeHandle :
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private ros::NodeHandle
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{
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public:
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NodeHandle(AppState &a) :
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ros::NodeHandle(),
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_subs(),
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_pubs(),
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_appState(a)
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{}
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~NodeHandle()
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{
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_subs.clear();
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_pubs.clear();
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};
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/**
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* Subscribe with callback to function
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* @param topic Name of the topic
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* @param fb Callback, executed on receiving a new message
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*/
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template<typename T>
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Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval)
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{
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SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle *)this, std::bind(fp, std::placeholders::_1));
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_subs.push_back(sub);
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return (Subscriber<T> *)sub;
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}
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/**
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* Subscribe with callback to class method
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* @param fb Callback, executed on receiving a new message
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* @param obj pointer class instance
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*/
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template<typename T, typename C>
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Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval)
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{
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SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle *)this, std::bind(fp, obj, std::placeholders::_1));
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_subs.push_back(sub);
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return (Subscriber<T> *)sub;
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}
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/**
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* Subscribe with no callback, just the latest value is stored on updates
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*/
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template<typename T>
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Subscriber<T> *subscribe(unsigned interval)
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{
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SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle *)this);
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_subs.push_back(sub);
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return (Subscriber<T> *)sub;
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}
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/**
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* Advertise topic
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*/
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template<typename T>
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Publisher<T> *advertise()
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{
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PublisherROS<T> *pub = new PublisherROS<T>((ros::NodeHandle *)this);
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_pubs.push_back((PublisherBase *)pub);
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return (Publisher<T> *)pub;
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}
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/**
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* Calls all callback waiting to be called
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*/
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void spinOnce() { ros::spinOnce(); }
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/**
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* Keeps calling callbacks for incomming messages, returns when module is terminated
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*/
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void spin() { ros::spin(); }
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protected:
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std::list<SubscriberBase *> _subs; /**< Subcriptions of node */
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std::list<PublisherBase *> _pubs; /**< Publications of node */
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AppState &_appState;
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};
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#else //Building for NuttX
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class __EXPORT NodeHandle
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{
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public:
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NodeHandle(AppState &a) :
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_subs(),
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_pubs(),
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_sub_min_interval(nullptr),
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_appState(a)
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{}
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~NodeHandle()
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{
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/* Empty subscriptions list */
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SubscriberNode *sub = _subs.getHead();
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int count = 0;
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while (sub != nullptr) {
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if (count++ > kMaxSubscriptions) {
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PX4_WARN("exceeded max subscriptions");
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break;
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}
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SubscriberNode *sib = sub->getSibling();
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delete sub;
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sub = sib;
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}
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/* Empty publications list */
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PublisherNode *pub = _pubs.getHead();
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count = 0;
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while (pub != nullptr) {
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if (count++ > kMaxPublications) {
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PX4_WARN("exceeded max publications");
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break;
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}
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PublisherNode *sib = pub->getSibling();
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delete pub;
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pub = sib;
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}
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};
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/**
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* Subscribe with callback to function
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* @param fp Callback, executed on receiving a new message
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* @param interval Minimal interval between calls to callback
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*/
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template<typename T>
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Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval)
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{
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(void)interval;
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SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, std::placeholders::_1));
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update_sub_min_interval(interval, sub_px4);
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_subs.add((SubscriberNode *)sub_px4);
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return (Subscriber<T> *)sub_px4;
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}
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/**
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* Subscribe with callback to class method
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* @param fb Callback, executed on receiving a new message
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* @param obj pointer class instance
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*/
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template<typename T, typename C>
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Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval)
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{
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(void)interval;
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SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, obj, std::placeholders::_1));
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update_sub_min_interval(interval, sub_px4);
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_subs.add((SubscriberNode *)sub_px4);
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return (Subscriber<T> *)sub_px4;
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}
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/**
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* Subscribe without callback to function
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* @param interval Minimal interval between data fetches from orb
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*/
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template<typename T>
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Subscriber<T> *subscribe(unsigned interval)
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{
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(void)interval;
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SubscriberUORB<T> *sub_px4 = new SubscriberUORB<T>(interval);
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update_sub_min_interval(interval, sub_px4);
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_subs.add((SubscriberNode *)sub_px4);
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return (Subscriber<T> *)sub_px4;
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}
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/**
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* Advertise topic
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*/
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template<typename T>
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Publisher<T> *advertise()
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{
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PublisherUORB<T> *pub = new PublisherUORB<T>();
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_pubs.add(pub);
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return (Publisher<T> *)pub;
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}
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/**
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* Calls all callback waiting to be called
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*/
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void spinOnce()
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{
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/* Loop through subscriptions, call callback for updated subscriptions */
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SubscriberNode *sub = _subs.getHead();
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int count = 0;
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while (sub != nullptr) {
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if (count++ > kMaxSubscriptions) {
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PX4_WARN("exceeded max subscriptions");
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break;
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}
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sub->update();
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sub = sub->getSibling();
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}
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}
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/**
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* Keeps calling callbacks for incomming messages, returns when module is terminated
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*/
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void spin()
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{
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while (!_appState.exitRequested()) {
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const int timeout_ms = 100;
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/* Only continue in the loop if the nodehandle has subscriptions */
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if (_sub_min_interval == nullptr) {
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usleep(timeout_ms * 1000);
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continue;
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}
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/* Poll fd with smallest interval */
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px4_pollfd_struct_t pfd;
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pfd.fd = _sub_min_interval->getUORBHandle();
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pfd.events = POLLIN;
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px4_poll(&pfd, 1, timeout_ms);
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spinOnce();
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}
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}
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protected:
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static const uint16_t kMaxSubscriptions = 100;
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static const uint16_t kMaxPublications = 100;
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List<SubscriberNode *> _subs; /**< Subcriptions of node */
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List<PublisherNode *> _pubs; /**< Publications of node */
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SubscriberNode *_sub_min_interval; /**< Points to the sub wtih the smallest interval
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of all Subscriptions in _subs*/
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AppState &_appState;
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/**
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* Check if this is the smallest interval so far and update _sub_min_interval
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*/
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template<typename T>
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void update_sub_min_interval(unsigned interval, SubscriberUORB<T> *sub)
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{
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if (_sub_min_interval == nullptr || _sub_min_interval->get_interval() > interval) {
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_sub_min_interval = sub;
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}
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}
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};
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#endif
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}
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