#include <SubscriptionInterval.hpp>

Inheritance diagram for uORB::SubscriptionInterval:

Collaboration diagram for uORB::SubscriptionInterval:

Public Member Functions
	SubscriptionInterval (const orb_metadata *meta, uint32_t interval_us=0, uint8_t instance=0)
	Constructor. More...

	SubscriptionInterval ()

	~SubscriptionInterval ()=default

bool	subscribe ()

bool	advertised ()

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

bool	update (void *dst)
	Copy the struct if updated. More...

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

bool	valid () const

uint8_t	get_instance () const

orb_id_t	get_topic () const

void	set_interval_us (uint32_t interval)
	Set the interval in microseconds. More...

void	set_interval_ms (uint32_t interval)
	Set the interval in milliseconds. More...

Protected Attributes
Subscription	_subscription

uint64_t	_last_update {0}

uint32_t	_interval_us {0}

Detailed Description

Definition at line 54 of file SubscriptionInterval.hpp.

Constructor & Destructor Documentation

◆ SubscriptionInterval() [1/2]

uORB::SubscriptionInterval::SubscriptionInterval	(	const orb_metadata *	meta,
		uint32_t	interval_us = `0`,
		uint8_t	instance = `0`
	)

inline

Constructor.

Parameters

meta	The uORB metadata (usually from the ORB_ID() macro) for the topic.
interval	The requested maximum update interval in microseconds.
instance	The instance for multi sub.

Definition at line 65 of file SubscriptionInterval.hpp.

References _interval_us, and ll40ls::instance.

◆ SubscriptionInterval() [2/2]

uORB::SubscriptionInterval::SubscriptionInterval ( )

inline

Definition at line 70 of file SubscriptionInterval.hpp.

References ~SubscriptionInterval().

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◆ ~SubscriptionInterval()

uORB::SubscriptionInterval::~SubscriptionInterval ( )

default

Referenced by SubscriptionInterval().

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Member Function Documentation

◆ advertised()

bool uORB::SubscriptionInterval::advertised ( )

inline

Definition at line 76 of file SubscriptionInterval.hpp.

References _subscription, and uORB::Subscription::advertised().

Referenced by updated().

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◆ copy()

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

inline

Copy the struct.

Parameters

dst	The destination pointer where the struct will be copied.

Returns: true only if topic was copied successfully.

Definition at line 109 of file SubscriptionInterval.hpp.

References _last_update, _subscription, uORB::Subscription::copy(), and hrt_absolute_time().

Referenced by px4::logger::Logger::copy_if_updated(), VehicleAcceleration::Run(), VehicleAngularVelocity::Run(), VehicleAngularVelocity::SensorCorrectionsUpdate(), and update().

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◆ get_instance()

uint8_t uORB::SubscriptionInterval::get_instance ( ) const

inline

Definition at line 121 of file SubscriptionInterval.hpp.

References _subscription, and uORB::Subscription::get_instance().

Referenced by px4::logger::Logger::write_add_logged_msg().

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◆ get_topic()

orb_id_t uORB::SubscriptionInterval::get_topic ( ) const

inline

Definition at line 122 of file SubscriptionInterval.hpp.

References _subscription, and uORB::Subscription::get_topic().

Referenced by px4::logger::Logger::write_add_logged_msg(), and px4::logger::Logger::write_formats().

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◆ set_interval_ms()

void uORB::SubscriptionInterval::set_interval_ms ( uint32_t interval )

inline

Set the interval in milliseconds.

Parameters

interval The interval in milliseconds.

Definition at line 134 of file SubscriptionInterval.hpp.

References _interval_us.

Referenced by BlockLocalPositionEstimator::BlockLocalPositionEstimator(), and FixedwingPositionControl::FixedwingPositionControl().

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◆ set_interval_us()

void uORB::SubscriptionInterval::set_interval_us ( uint32_t interval )

inline

Set the interval in microseconds.

Parameters

interval The interval in microseconds.

Definition at line 128 of file SubscriptionInterval.hpp.

References _interval_us.

Referenced by MulticopterPositionControl::init(), and MixingOutput::setMaxTopicUpdateRate().

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◆ subscribe()

bool uORB::SubscriptionInterval::subscribe ( )

inline

Definition at line 74 of file SubscriptionInterval.hpp.

References _subscription, and uORB::Subscription::subscribe().

Referenced by px4::logger::Logger::copy_if_updated().

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◆ update()

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

inline

Copy the struct if updated.

Parameters

dst	The destination pointer where the struct will be copied.

Returns: true only if topic was updated and copied successfully.

Definition at line 95 of file SubscriptionInterval.hpp.

References copy(), and updated().

Referenced by px4::logger::Logger::copy_if_updated(), MulticopterRateControl::Run(), MulticopterAttitudeControl::Run(), AttitudeEstimatorQ::Run(), FixedwingAttitudeControl::Run(), MulticopterPositionControl::Run(), VtolAttitudeControl::Run(), Ekf2::Run(), px4::logger::Logger::run(), FixedwingPositionControl::Run(), and BlockLocalPositionEstimator::Run().

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◆ updated()

bool uORB::SubscriptionInterval::updated ( )

inline

Check if there is a new update.

Definition at line 81 of file SubscriptionInterval.hpp.

References _interval_us, _last_update, _subscription, advertised(), hrt_elapsed_time(), and uORB::Subscription::updated().

Referenced by VehicleAngularVelocity::SensorCorrectionsUpdate(), and update().

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◆ valid()

bool uORB::SubscriptionInterval::valid ( ) const

inline

Definition at line 119 of file SubscriptionInterval.hpp.

References _subscription, and uORB::Subscription::valid().

Referenced by px4::logger::Logger::copy_if_updated(), and px4::logger::Logger::write_all_add_logged_msg().

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Member Data Documentation

◆ _interval_us

uint32_t uORB::SubscriptionInterval::_interval_us {0}

protected

Definition at line 140 of file SubscriptionInterval.hpp.

Referenced by uORB::SubscriptionCallbackWorkItem::call(), set_interval_ms(), set_interval_us(), SubscriptionInterval(), and updated().

◆ _last_update

uint64_t uORB::SubscriptionInterval::_last_update {0}

protected

Definition at line 139 of file SubscriptionInterval.hpp.

Referenced by uORB::SubscriptionCallbackWorkItem::call(), copy(), and updated().

◆ _subscription

Subscription uORB::SubscriptionInterval::_subscription

protected

Definition at line 138 of file SubscriptionInterval.hpp.

Referenced by advertised(), copy(), get_instance(), get_topic(), uORB::SubscriptionCallback::registerCallback(), subscribe(), uORB::SubscriptionCallback::unregisterCallback(), updated(), and valid().

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

src/modules/uORB/SubscriptionInterval.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SubscriptionInterval() [1/2]

◆ SubscriptionInterval() [2/2]

◆ ~SubscriptionInterval()

Member Function Documentation

◆ advertised()

◆ copy()

◆ get_instance()

◆ get_topic()

◆ set_interval_ms()

◆ set_interval_us()

◆ subscribe()

◆ update()

◆ updated()

◆ valid()

Member Data Documentation

◆ _interval_us

◆ _last_update

◆ _subscription