#include <Subscription.hpp>

Inheritance diagram for uORB::Subscription:

Collaboration diagram for uORB::Subscription:

Public Member Functions
	Subscription (const orb_metadata *meta, uint8_t instance=0)
	Constructor. More...

	~Subscription ()

bool	subscribe ()

void	unsubscribe ()

bool	valid () const

bool	advertised ()

bool	updated ()
	Check if there is a new update. More...

bool	update (void *dst)
	Update the struct. More...

bool	update (uint64_t time, void dst)
	Check if subscription updated based on timestamp. More...

bool	copy (void *dst)
	Copy the struct. More...

uint8_t	get_instance () const

orb_id_t	get_topic () const

Protected Member Functions
DeviceNode *	get_node ()

bool	init ()

Protected Attributes
DeviceNode *	_node {nullptr}

const orb_metadata *	_meta {nullptr}

unsigned	_last_generation {0}
	Subscription's latest data generation. More...

uint8_t	_instance {0}

Friends
class	SubscriptionCallback

Detailed Description

Definition at line 54 of file Subscription.hpp.

Constructor & Destructor Documentation

◆ Subscription()

uORB::Subscription::Subscription	(	const orb_metadata *	meta,
		uint8_t	instance = `0`
	)

inline

Constructor.

Parameters

meta	The uORB metadata (usually from the ORB_ID() macro) for the topic.
instance	The instance for multi sub.

Definition at line 64 of file Subscription.hpp.

References subscribe().

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◆ ~Subscription()

uORB::Subscription::~Subscription ( )

inline

Definition at line 69 of file Subscription.hpp.

References subscribe(), and unsubscribe().

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Member Function Documentation

◆ advertised()

bool uORB::Subscription::advertised ( )

inline

Definition at line 78 of file Subscription.hpp.

References _node, init(), uORB::DeviceNode::is_advertised(), and valid().

Referenced by uORB::SubscriptionInterval::advertised(), copy(), Heater::initialize_topics(), MavlinkOrbSubscription::is_published(), update(), and updated().

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◆ copy()

bool uORB::Subscription::copy ( void * dst )

inline

Copy the struct.

Parameters

data	The uORB message struct we are updating.

Definition at line 121 of file Subscription.hpp.

References _last_generation, _node, advertised(), and uORB::DeviceNode::copy().

Referenced by landing_target_estimator::LandingTargetEstimator::_check_params(), land_detector::LandDetector::_update_params(), FlightTasks::_updateCommand(), CollisionPrevention::_updateObstacleMap(), Navigator::abort_landing(), BatteryStatus::adc_poll(), Commander::battery_status_check(), Navigator::check_traffic(), uORB::SubscriptionInterval::copy(), TAP_ESC::cycle(), Commander::data_link_check(), MavlinkReceiver::handle_message_set_actuator_control_target(), MavlinkReceiver::handle_message_set_attitude_target(), MavlinkReceiver::handle_message_set_position_target_global_int(), MavlinkReceiver::handle_message_set_position_target_local_ned(), GPS::handleInjectDataTopic(), Heater::initialize_topics(), PX4IO::io_set_arming_state(), FollowTarget::on_active(), ToneAlarm::orb_update(), Sensors::parameter_update_poll(), BatteryStatus::parameter_update_poll(), MulticopterPositionControl::parameters_update(), Sih::parameters_update_poll(), VehicleAcceleration::ParametersUpdate(), VehicleAngularVelocity::ParametersUpdate(), MulticopterPositionControl::poll_subscriptions(), PWMSim::Run(), MulticopterRateControl::Run(), MulticopterAttitudeControl::Run(), AttitudeEstimatorQ::Run(), RGBLED::Run(), RGBLED_NPC5623C::Run(), AirspeedModule::Run(), FixedwingAttitudeControl::Run(), Commander::run(), VtolAttitudeControl::Run(), Sensors::run(), Ekf2::Run(), Navigator::run(), BatteryStatus::Run(), px4::logger::Logger::run(), PX4FMU::Run(), px4::bst::BST::Run(), FixedwingPositionControl::Run(), UavcanNode::Run(), MavlinkReceiver::Run(), BlinkM::Run(), MavlinkReceiver::send_flight_information(), VehicleAcceleration::SensorBiasUpdate(), VehicleAngularVelocity::SensorBiasUpdate(), VehicleAcceleration::SensorCorrectionsUpdate(), VehicleAngularVelocity::SensorCorrectionsUpdate(), uORB::SubscriptionData< vehicle_land_detected_s >::SubscriptionData(), PX4IO::task_main(), MavlinkOrbSubscription::update(), LedController::update(), update(), CameraTrigger::update_distance(), AttitudeEstimatorQ::update_parameters(), Heater::update_params(), OSDatxxxx::update_topics(), VtolAttitudeControl::vehicle_cmd_poll(), FixedwingPositionControl::vehicle_command_poll(), FixedwingPositionControl::vehicle_control_mode_poll(), FixedwingAttitudeControl::vehicle_land_detected_poll(), FixedwingAttitudeControl::vehicle_manual_poll(), and RoverPositionControl::~RoverPositionControl().

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◆ get_instance()

uint8_t uORB::Subscription::get_instance ( ) const

inline

Definition at line 123 of file Subscription.hpp.

References _instance.

Referenced by MavlinkOrbSubscription::get_instance(), uORB::SubscriptionInterval::get_instance(), and uORB::SubscriptionCallback::registerCallback().

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◆ get_node()

DeviceNode* uORB::Subscription::get_node ( )

inlineprotected

Definition at line 130 of file Subscription.hpp.

References _node, and init().

Referenced by uORB::SubscriptionCallback::registerCallback(), and uORB::SubscriptionCallback::unregisterCallback().

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◆ get_topic()

orb_id_t uORB::Subscription::get_topic ( ) const

inline

Definition at line 124 of file Subscription.hpp.

References _meta.

Referenced by MavlinkOrbSubscription::get_topic(), uORB::SubscriptionInterval::get_topic(), and uORB::SubscriptionCallback::registerCallback().

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◆ init()

bool uORB::Subscription::init ( )

protected

Definition at line 97 of file Subscription.cpp.

References _last_generation, _meta, _node, and subscribe().

Referenced by advertised(), and get_node().

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◆ subscribe()

bool uORB::Subscription::subscribe ( )

Definition at line 46 of file Subscription.cpp.

References _instance, _last_generation, _meta, _node, uORB::DeviceNode::add_internal_subscriber(), uORB::Manager::get_device_master(), uORB::Manager::get_instance(), uORB::DeviceNode::get_queue_size(), uORB::DeviceMaster::getDeviceNode(), and uORB::DeviceNode::published_message_count().

Referenced by init(), MavlinkOrbSubscription::is_published(), MixingOutput::MixingOutput(), Commander::offboard_control_update(), uORB::SubscriptionCallback::registerCallback(), uORB::SubscriptionInterval::subscribe(), Subscription(), and ~Subscription().

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◆ unsubscribe()

void uORB::Subscription::unsubscribe ( )

Definition at line 86 of file Subscription.cpp.

References _last_generation, _node, and uORB::DeviceNode::remove_internal_subscriber().

Referenced by ~Subscription().

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◆ update() [1/2]

bool uORB::Subscription::update ( void * dst )

inline

Update the struct.

Parameters

data	The uORB message struct we are updating.

Definition at line 104 of file Subscription.hpp.

References copy(), and updated().

Referenced by land_detector::VtolLandDetector::_update_topics(), land_detector::FixedwingLandDetector::_update_topics(), land_detector::MulticopterLandDetector::_update_topics(), landing_target_estimator::LandingTargetEstimator::_update_topics(), land_detector::LandDetector::_update_topics(), UavcanGnssBridge::broadcast_from_orb(), MulticopterAttitudeControl::control_attitude(), RCInput::cycle(), Commander::data_link_check(), Sensors::diff_pres_poll(), PX4IO::handle_motor_test(), px4::logger::Logger::handle_vehicle_command_update(), PX4IO::io_set_control_state(), MixingOutput::motorTest(), PrecLand::on_active(), MulticopterPositionControl::poll_subscriptions(), AirspeedModule::poll_topics(), MulticopterRateControl::Run(), MulticopterAttitudeControl::Run(), CameraCapture::Run(), AirspeedModule::Run(), FixedwingAttitudeControl::Run(), VtolAttitudeControl::Run(), Ekf2::Run(), Navigator::run(), FixedwingPositionControl::Run(), Heater::Run(), land_detector::LandDetector::Run(), CameraTrigger::Run(), MavlinkMissionManager::send(), CRSFTelemetry::send_attitude(), CRSFTelemetry::send_battery(), CRSFTelemetry::send_flight_mode(), CRSFTelemetry::send_gps(), MavlinkParametersManager::send_uavcan(), MavlinkParametersManager::send_untransmitted(), px4::logger::Logger::start_stop_logging(), FixedwingPositionControl::tecs_update_pitch_throttle(), MavlinkOrbSubscription::update(), MixingOutput::update(), uORB::SubscriptionData< vehicle_land_detected_s >::update(), MavlinkOrbSubscription::update_if_changed(), DShotOutput::update_params(), FixedwingPositionControl::vehicle_attitude_poll(), FixedwingAttitudeControl::vehicle_attitude_setpoint_poll(), FixedwingAttitudeControl::vehicle_control_mode_poll(), FixedwingAttitudeControl::vehicle_rates_setpoint_poll(), MulticopterRateControl::vehicle_status_poll(), MulticopterAttitudeControl::vehicle_status_poll(), FixedwingAttitudeControl::vehicle_status_poll(), and FixedwingPositionControl::vehicle_status_poll().

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◆ update() [2/2]

bool uORB::Subscription::update	(	uint64_t *	time,
		void *	dst
	)

Check if subscription updated based on timestamp.

Returns: true only if topic was updated based on a timestamp and copied to buffer successfully. If topic was not updated since last check it will return false but still copy the data. If no data available data buffer will be filled with zeros.

Definition at line 117 of file Subscription.cpp.

References _last_generation, _node, advertised(), and uORB::DeviceNode::copy_and_get_timestamp().

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◆ updated()

bool uORB::Subscription::updated ( )

inline

Check if there is a new update.

Definition at line 98 of file Subscription.hpp.

References _last_generation, _node, advertised(), and uORB::DeviceNode::published_message_count().

Referenced by landing_target_estimator::LandingTargetEstimator::_check_params(), FlightTasks::_updateCommand(), Navigator::abort_landing(), Commander::battery_status_check(), Navigator::check_traffic(), TAP_ESC::cycle(), Commander::data_link_check(), GPS::handleInjectDataTopic(), Commander::offboard_control_update(), FollowTarget::on_active(), ToneAlarm::orb_update(), Sensors::parameter_update_poll(), BatteryStatus::parameter_update_poll(), MulticopterPositionControl::parameters_update(), Sih::parameters_update_poll(), VehicleAcceleration::ParametersUpdate(), VehicleAngularVelocity::ParametersUpdate(), MulticopterPositionControl::poll_subscriptions(), PWMSim::Run(), MulticopterRateControl::Run(), MulticopterAttitudeControl::Run(), AttitudeEstimatorQ::Run(), RGBLED::Run(), RGBLED_NPC5623C::Run(), FixedwingAttitudeControl::Run(), Commander::run(), VtolAttitudeControl::Run(), Sensors::run(), Ekf2::Run(), Navigator::run(), BatteryStatus::Run(), px4::logger::Logger::run(), DShotOutput::Run(), PX4FMU::Run(), px4::bst::BST::Run(), FixedwingPositionControl::Run(), land_detector::LandDetector::Run(), UavcanNode::Run(), MavlinkReceiver::Run(), BlinkM::Run(), MavlinkParametersManager::send_untransmitted(), VehicleAcceleration::SensorBiasUpdate(), VehicleAngularVelocity::SensorBiasUpdate(), VehicleAcceleration::SensorCorrectionsUpdate(), VehicleAngularVelocity::SensorCorrectionsUpdate(), PX4IO::task_main(), LedController::update(), update(), AttitudeEstimatorQ::update_parameters(), Heater::update_params(), OSDatxxxx::update_topics(), uORB::SubscriptionInterval::updated(), VtolAttitudeControl::vehicle_cmd_poll(), FixedwingPositionControl::vehicle_command_poll(), FixedwingPositionControl::vehicle_control_mode_poll(), FixedwingAttitudeControl::vehicle_land_detected_poll(), and RoverPositionControl::~RoverPositionControl().

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◆ valid()

bool uORB::Subscription::valid ( ) const

inline

Definition at line 77 of file Subscription.hpp.

References _node.

Referenced by advertised(), and uORB::SubscriptionInterval::valid().

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Friends And Related Function Documentation

◆ SubscriptionCallback

friend class SubscriptionCallback

friend

Definition at line 128 of file Subscription.hpp.

Member Data Documentation

◆ _instance

uint8_t uORB::Subscription::_instance {0}

protected

Definition at line 143 of file Subscription.hpp.

Referenced by get_instance(), and subscribe().

◆ _last_generation

unsigned uORB::Subscription::_last_generation {0}

protected

Subscription's latest data generation.

Also used to track (and rate limit) subscription attempts if the topic has not yet been published.

Definition at line 142 of file Subscription.hpp.

Referenced by copy(), init(), subscribe(), unsubscribe(), update(), and updated().

◆ _meta

const orb_metadata* uORB::Subscription::_meta {nullptr}

protected

Definition at line 135 of file Subscription.hpp.

Referenced by get_topic(), init(), and subscribe().

◆ _node

DeviceNode* uORB::Subscription::_node {nullptr}

protected

Definition at line 134 of file Subscription.hpp.

Referenced by advertised(), copy(), get_node(), init(), subscribe(), unsubscribe(), update(), updated(), and valid().

The documentation for this class was generated from the following files:

src/modules/uORB/Subscription.hpp
src/modules/uORB/Subscription.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Subscription()

◆ ~Subscription()

Member Function Documentation

◆ advertised()

◆ copy()

◆ get_instance()

◆ get_node()

◆ get_topic()

◆ init()

◆ subscribe()

◆ unsubscribe()

◆ update() [1/2]

◆ update() [2/2]

◆ updated()

◆ valid()

Friends And Related Function Documentation

◆ SubscriptionCallback

Member Data Documentation

◆ _instance

◆ _last_generation

◆ _meta

◆ _node