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Publication.hpp
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33 
34 /**
35  * @file Publication.hpp
36  *
37  */
38 
39 #pragma once
40 
41 #include <px4_platform_common/defines.h>
42 #include <systemlib/err.h>
43 #include <uORB/uORB.h>
44 
45 namespace uORB
46 {
47 
48 /**
49  * Base publication wrapper class
50  */
51 template<typename T>
53 {
54 public:
55 
56  /**
57  * Constructor
58  *
59  * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
60  */
61  Publication(const orb_metadata *meta) : _meta(meta) {}
63 
64  /**
65  * Publish the struct
66  * @param data The uORB message struct we are updating.
67  */
68  bool publish(const T &data)
69  {
70  if (_handle != nullptr) {
71  return (orb_publish(_meta, _handle, &data) == PX4_OK);
72 
73  } else {
74  orb_advert_t handle = orb_advertise(_meta, &data);
75 
76  if (handle != nullptr) {
77  _handle = handle;
78  return true;
79  }
80  }
81 
82  return false;
83  }
84 
85 protected:
87 
89 };
90 
91 /**
92  * The publication class with data embedded.
93  */
94 template<typename T>
95 class PublicationData : public Publication<T>
96 {
97 public:
98  /**
99  * Constructor
100  *
101  * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
102  */
103  PublicationData(const orb_metadata *meta) : Publication<T>(meta) {}
104  ~PublicationData() = default;
105 
106  T &get() { return _data; }
107  void set(const T &data) { _data = data; }
108 
109  // Publishes the embedded struct.
111  bool update(const T &data)
112  {
113  _data = data;
115  }
116 
117 private:
118  T _data{};
119 };
120 
121 } // namespace uORB
API for the uORB lightweight object broker.
Publication(const orb_metadata *meta)
Constructor.
Definition: Publication.hpp:61
orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
Definition: uORB.cpp:43
bool update(const T &data)
Base publication wrapper class.
Definition: Publication.hpp:52
bool publish(const T &data)
Publish the struct.
Definition: Publication.hpp:68
uint8_t * data
Definition: dataman.cpp:149
PublicationData(const orb_metadata *meta)
Constructor.
Simple error/warning functions, heavily inspired by the BSD functions of the same names...
__BEGIN_DECLS typedef void * orb_advert_t
ORB topic advertiser handle.
Definition: uORB.h:134
int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
Definition: uORB.cpp:70
Object metadata.
Definition: uORB.h:50
The publication class with data embedded.
Definition: Publication.hpp:95
int orb_unadvertise(orb_advert_t handle)
Definition: uORB.cpp:65
const orb_metadata * _meta
Definition: Publication.hpp:86
static struct mpu9x50_data _data
IMU measurement data.
orb_advert_t _handle
Definition: Publication.hpp:88