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130 lines
3.3 KiB
130 lines
3.3 KiB
/****************************************************************************
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*
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* Copyright (c) 2020 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 Publication.hpp
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*
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*/
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#pragma once
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#include "rclcpp/rclcpp.hpp"
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#include "uORB.h"
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namespace uORB
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{
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/**
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* uORB publication wrapper class
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*/
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template<typename T>
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class Publication
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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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*/
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Publication(rclcpp::Node *node, ORB_ID id) : _node(*node), _id(id)
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{
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_publisher = _node.create_publisher<T>(::get_topic_string(_id), ORB_QSIZE); // TODO
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}
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bool advertised() { return (_publisher != nullptr); }
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bool advertise()
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{
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if (!advertised()) {
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_publisher = _node.create_publisher<T>(get_topic_string(_id), ORB_QSIZE);
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}
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return advertised();
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}
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/**
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* Publish the struct
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* @param data The uORB message struct we are updating.
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*/
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bool publish(const T &data)
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{
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if (!advertised()) {
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advertise();
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}
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_publisher->publish(data);
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return true;
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}
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private:
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typename rclcpp::Publisher<T>::SharedPtr _publisher{nullptr};
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rclcpp::Node &_node;
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const ORB_ID _id;
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};
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/**
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* The publication class with data embedded.
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*/
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template<typename T>
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class PublicationData : public Publication<T>
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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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*/
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PublicationData(ORB_ID id) : Publication<T>(id) {}
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//PublicationData(const orb_metadata *meta) : Publication<T>(meta) {}
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T &get() { return _data; }
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void set(const T &data) { _data = data; }
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// Publishes the embedded struct.
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bool update() { return Publication<T>::publish(_data); }
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bool update(const T &data)
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{
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_data = data;
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return Publication<T>::publish(_data);
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}
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private:
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T _data{};
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};
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} // namespace uORB
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