subscriber_handler.h

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#pragma once

#include <uORB/uORB.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/vehicle_attitude.h>

namespace events
{

/**
 * @class SubscriberHandler
 * Contains a list of uORB subscriptions and maintains their update state.
 */
class SubscriberHandler
{
public:
    void subscribe();
    void unsubscribe();
    void check_for_updates();

    int get_battery_status_sub() const { return _battery_status_sub; }
    int get_cpuload_sub() const { return _cpuload_sub; }
    int get_vehicle_command_sub() const { return _vehicle_command_sub; }
    int get_vehicle_status_sub() const { return _vehicle_status_sub; }
    int get_vehicle_status_flags_sub() const { return _vehicle_status_flags_sub; }

    /* update checking methods */
    bool battery_status_updated() const { return _update_bitfield & (uint32_t)StatusMask::BatteryStatus; }
    bool cpuload_updated() const { return _update_bitfield & (uint32_t)StatusMask::CpuLoad; }
    bool vehicle_command_updated() const { return _update_bitfield & (uint32_t)StatusMask::VehicleCommand; }
    bool vehicle_status_updated() const { return _update_bitfield & (uint32_t)StatusMask::VehicleStatus; }
    bool vehicle_status_flags_updated() const { return _update_bitfield & (uint32_t)StatusMask::VehicleStatusFlags; }


private:
    enum class StatusMask : uint32_t {
        VehicleCommand = (0x01 << 0),
        VehicleStatus = (0x01 << 1),
        VehicleStatusFlags = (0x01 << 2),
        BatteryStatus = (0x01 << 3),
        CpuLoad = (0x01 << 4),
    };

    int _battery_status_sub = -1;
    int _cpuload_sub = -1;
    int _vehicle_command_sub = -1;
    int _vehicle_status_sub = -1;
    int _vehicle_status_flags_sub = -1;

    uint32_t _update_bitfield = 0;
};

} /* events */