Publication.hpp

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#pragma once

#include <uORB/uORB.h>
#include <containers/List.hpp>
#include <systemlib/err.h>

namespace uORB
{

class __EXPORT PublicationBase
{
public:

    PublicationBase(const struct orb_metadata *meta, int priority = -1);

    virtual ~PublicationBase();

    // no copy, assignment, move, move assignment
    PublicationBase(const PublicationBase &) = delete;
    PublicationBase &operator=(const PublicationBase &) = delete;
    PublicationBase(PublicationBase &&) = delete;
    PublicationBase &operator=(PublicationBase &&) = delete;

    bool update(void *data);

protected:
    const struct orb_metadata *_meta;
    const int _priority;

    orb_advert_t _handle{nullptr};
};

typedef PublicationBase PublicationTiny;

class __EXPORT PublicationNode : public PublicationBase, public ListNode<PublicationNode *>
{
public:
    PublicationNode(const struct orb_metadata *meta, int priority = -1, List<PublicationNode *> *list = nullptr);
    virtual ~PublicationNode() override = default;

    virtual bool update() = 0;
};

template<class T>
class __EXPORT Publication final : public PublicationNode
{
public:
    Publication(const struct orb_metadata *meta, int priority = -1, List<PublicationNode *> *list = nullptr)  :
        PublicationNode(meta, priority, list),
        _data()
    {
    }

    ~Publication() override = default;

    // no copy, assignment, move, move assignment
    Publication(const Publication &) = delete;
    Publication &operator=(const Publication &) = delete;
    Publication(Publication &&) = delete;
    Publication &operator=(Publication &&) = delete;

    /*
     * This function gets the T struct
     * */
    T &get() { return _data; }

    bool update() override
    {
        return PublicationBase::update((void *)(&_data));
    }

    bool update(const T &data)
    {
        _data = data;
        return update();
    }

private:
    T _data;
};

} // namespace uORB