uORB::SubscriptionCallback Class Reference

#include <SubscriptionCallback.hpp>

Inheritance diagram for uORB::SubscriptionCallback:

Collaboration diagram for uORB::SubscriptionCallback:

Public Member Functions
	SubscriptionCallback (const orb_metadata *meta, uint8_t interval_ms=0, uint8_t instance=0)
	Constructor. More...
virtual	~SubscriptionCallback ()
bool	registerCallback ()
void	unregisterCallback ()
virtual void	call ()=0
Public Member Functions inherited from uORB::SubscriptionInterval
	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...
Public Member Functions inherited from ListNode< SubscriptionCallback *>
void	setSibling (SubscriptionCallback * sibling)
const SubscriptionCallback *	getSibling () const

Additional Inherited Members
Protected Attributes inherited from uORB::SubscriptionInterval
Subscription	_subscription
uint64_t	_last_update {0}
uint32_t	_interval_us {0}
Protected Attributes inherited from ListNode< SubscriptionCallback *>
SubscriptionCallback *	_list_node_sibling

Detailed Description

Definition at line 49 of file SubscriptionCallback.hpp.

Constructor & Destructor Documentation

SubscriptionCallback()

uORB::SubscriptionCallback::SubscriptionCallback ( const orb_metadata *  meta, uint8_t  interval_ms = 0, uint8_t  instance = 0  )

inline

Constructor.

Parameters

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

Definition at line 59 of file SubscriptionCallback.hpp.

~SubscriptionCallback()

virtual uORB::SubscriptionCallback::~SubscriptionCallback ( )

inlinevirtual

Definition at line 64 of file SubscriptionCallback.hpp.

References unregisterCallback().

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Member Function Documentation

call()

virtual void uORB::SubscriptionCallback::call ( )

pure virtual

Implemented in uORB::SubscriptionCallbackWorkItem.

Referenced by unregisterCallback().

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registerCallback()

bool uORB::SubscriptionCallback::registerCallback ( )

inline

Definition at line 69 of file SubscriptionCallback.hpp.

References uORB::SubscriptionInterval::_subscription, fd, uORB::Subscription::get_instance(), uORB::Subscription::get_node(), uORB::Subscription::get_topic(), orb_subscribe_multi(), orb_unsubscribe(), uORB::DeviceNode::register_callback(), and uORB::Subscription::subscribe().

Referenced by MulticopterRateControl::init(), MulticopterAttitudeControl::init(), AttitudeEstimatorQ::init(), FixedwingAttitudeControl::init(), MulticopterPositionControl::init(), VtolAttitudeControl::init(), Ekf2::init(), BlockLocalPositionEstimator::init(), FixedwingPositionControl::init(), VehicleAcceleration::Start(), and VehicleAngularVelocity::Start().

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unregisterCallback()

void uORB::SubscriptionCallback::unregisterCallback ( )

inline

Definition at line 95 of file SubscriptionCallback.hpp.

References uORB::SubscriptionInterval::_subscription, call(), uORB::Subscription::get_node(), and uORB::DeviceNode::unregister_callback().

Referenced by MulticopterRateControl::Run(), MulticopterAttitudeControl::Run(), AttitudeEstimatorQ::Run(), FixedwingAttitudeControl::Run(), MulticopterPositionControl::Run(), VtolAttitudeControl::Run(), Ekf2::Run(), FixedwingPositionControl::Run(), BlockLocalPositionEstimator::Run(), VehicleAcceleration::Stop(), VehicleAngularVelocity::Stop(), and ~SubscriptionCallback().

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

• src/modules/uORB/SubscriptionCallback.hpp