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145 lines
4.5 KiB
C++
145 lines
4.5 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 SubscriptionInterval.hpp
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*
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*/
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#pragma once
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#include <uORB/uORB.h>
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#include <px4_platform_common/defines.h>
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#include "uORBDeviceNode.hpp"
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#include "uORBManager.hpp"
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#include "uORBUtils.hpp"
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#include "Subscription.hpp"
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#include <mathlib/mathlib.h>
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namespace uORB
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{
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// Base subscription wrapper class
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class SubscriptionInterval
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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 id The uORB ORB_ID enum for the topic.
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* @param interval The requested maximum update interval in microseconds.
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* @param instance The instance for multi sub.
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*/
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SubscriptionInterval(ORB_ID id, uint32_t interval_us = 0, uint8_t instance = 0) :
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_subscription{id, instance},
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_interval_us(interval_us)
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{}
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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 The requested maximum update interval in microseconds.
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* @param instance The instance for multi sub.
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*/
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SubscriptionInterval(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) :
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_subscription{meta, instance},
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_interval_us(interval_us)
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{}
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SubscriptionInterval() : _subscription{nullptr} {}
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~SubscriptionInterval() = default;
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bool subscribe() { return _subscription.subscribe(); }
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void unsubscribe() { _subscription.unsubscribe(); }
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bool advertised() { return _subscription.advertised(); }
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/**
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* Check if there is a new update.
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* */
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bool updated();
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/**
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* Copy the struct if updated.
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* @param dst The destination pointer where the struct will be copied.
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* @return true only if topic was updated and copied successfully.
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*/
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bool update(void *dst);
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/**
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* Copy the struct
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* @param dst The destination pointer where the struct will be copied.
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* @return true only if topic was copied successfully.
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*/
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bool copy(void *dst);
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bool valid() const { return _subscription.valid(); }
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uint8_t get_instance() const { return _subscription.get_instance(); }
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uint32_t get_interval_us() const { return _interval_us; }
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unsigned get_last_generation() const { return _subscription.get_last_generation(); }
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orb_id_t get_topic() const { return _subscription.get_topic(); }
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/**
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* Set the interval in microseconds
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* @param interval The interval in microseconds.
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*/
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void set_interval_us(uint32_t interval) { _interval_us = interval; }
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/**
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* Set the interval in milliseconds
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* @param interval The interval in milliseconds.
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*/
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void set_interval_ms(uint32_t interval) { _interval_us = interval * 1000; }
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/**
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* Set the last data update
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* @param t should be in range [now, now - _interval_us]
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*/
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void set_last_update(hrt_abstime t) { _last_update = t; }
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protected:
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Subscription _subscription;
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uint64_t _last_update{0}; // last subscription update in microseconds
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uint32_t _interval_us{0}; // maximum update interval in microseconds
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};
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} // namespace uORB
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