mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-18 03:57:34 +08:00
Pavel Kirienko
122 lines
3.9 KiB
C++
122 lines
3.9 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#ifndef UAVCAN_NODE_SUBSCRIBER_HPP_INCLUDED
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#define UAVCAN_NODE_SUBSCRIBER_HPP_INCLUDED
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#include <cassert>
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#include <uavcan/build_config.hpp>
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#include <uavcan/node/generic_subscriber.hpp>
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#if !defined(UAVCAN_CPP_VERSION) || !defined(UAVCAN_CPP11)
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# error UAVCAN_CPP_VERSION
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#endif
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#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
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# include <functional>
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#endif
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namespace uavcan
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{
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/**
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* Use this class to subscribe to a message.
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*
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* @tparam DataType_ Message data type.
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*
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* @tparam Callback_ Type of the callback that will be used to deliver received messages
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* into the application. Type of the argument of the callback can be either:
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* - DataType_&
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* - const DataType_&
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* - ReceivedDataStructure<DataType_>&
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* - const ReceivedDataStructure<DataType_>&
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* For the first two options, @ref ReceivedDataStructure<> will be casted implicitly.
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* In C++11 mode this type defaults to std::function<>.
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* In C++03 mode this type defaults to a plain function pointer; use binder to
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* call member functions as callbacks.
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*
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* @tparam NumStaticReceivers Number of statically allocated receiver objects. If there's more publishers
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* of this message, extra receivers will be allocated in the memory pool.
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*
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* @tparam NumStaticBufs Number of statically allocated receiver buffers. If there's more concurrent
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* incoming transfers, extra buffers will be allocated in the memory pool.
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*/
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template <typename DataType_,
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#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
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typename Callback_ = std::function<void (const ReceivedDataStructure<DataType_>&)>,
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#else
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typename Callback_ = void (*)(const ReceivedDataStructure<DataType_>&),
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#endif
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#if UAVCAN_TINY
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unsigned NumStaticReceivers = 0,
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unsigned NumStaticBufs = 0
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#else
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unsigned NumStaticReceivers = 2,
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unsigned NumStaticBufs = 1
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#endif
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>
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class UAVCAN_EXPORT Subscriber
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: public GenericSubscriber<DataType_, DataType_,
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typename TransferListenerInstantiationHelper<DataType_, NumStaticReceivers,
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NumStaticBufs>::Type>
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{
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public:
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typedef Callback_ Callback;
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private:
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typedef typename TransferListenerInstantiationHelper<DataType_, NumStaticReceivers, NumStaticBufs>::Type
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TransferListenerType;
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typedef GenericSubscriber<DataType_, DataType_, TransferListenerType> BaseType;
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Callback callback_;
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virtual void handleReceivedDataStruct(ReceivedDataStructure<DataType_>& msg)
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{
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if (try_implicit_cast<bool>(callback_, true))
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{
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callback_(msg);
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}
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else
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{
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handleFatalError("Sub clbk");
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}
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}
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public:
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typedef DataType_ DataType;
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explicit Subscriber(INode& node)
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: BaseType(node)
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, callback_()
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{
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StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindMessage>::check();
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}
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/**
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* Begin receiving messages.
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* Each message will be passed to the application via the callback.
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* Returns negative error code.
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*/
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int start(const Callback& callback)
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{
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stop();
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if (!try_implicit_cast<bool>(callback, true))
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{
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UAVCAN_TRACE("Subscriber", "Invalid callback");
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return -ErrInvalidParam;
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}
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callback_ = callback;
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return BaseType::startAsMessageListener();
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}
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using BaseType::allowAnonymousTransfers;
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using BaseType::stop;
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using BaseType::getFailureCount;
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};
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}
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#endif // UAVCAN_NODE_SUBSCRIBER_HPP_INCLUDED
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