Firmware
mavlink_orb_subscription.h
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33 
41 #ifndef MAVLINK_ORB_SUBSCRIPTION_H_
42 #define MAVLINK_ORB_SUBSCRIPTION_H_
43 
44 #include <drivers/drv_hrt.h>
45 #include <containers/List.hpp>
46 #include "uORB/uORB.h" // orb_id_t
47 
48 class MavlinkOrbSubscription : public ListNode<MavlinkOrbSubscription *>
49 {
50 public:
51 
52  MavlinkOrbSubscription(const orb_id_t topic, int instance);
53  ~MavlinkOrbSubscription();
54 
64  bool update(uint64_t *time, void *data);
65 
71  bool update(void *data);
72 
79  bool update_if_changed(void *data);
80 
88  bool is_published();
89 
90  void subscribe_from_beginning(bool from_beginning);
91 
92  orb_id_t get_topic() const;
93  int get_instance() const;
94 
95  int get_fd() { return _fd; }
96 
97 private:
98  const orb_id_t _topic;
99  const uint8_t _instance;
100 
101  int _fd{-1};
102 
103  bool _published{false};
104 
105  bool _subscribe_from_beginning{false};
106 
107  hrt_abstime _last_pub_check{0};
108 
109  /* do not allow copying this class */
110  MavlinkOrbSubscription(const MavlinkOrbSubscription &);
111  MavlinkOrbSubscription operator=(const MavlinkOrbSubscription &);
112 };
113 
114 
115 #endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */
List.hpp
An intrusive linked list.
ListNode
Definition: List.hpp:45
MavlinkOrbSubscription::update_if_changed
bool update_if_changed(void *data)
Check if the subscription has been updated.
Definition: mavlink_orb_subscription.cpp:120
drv_hrt.h
High-resolution timer with callouts and timekeeping.
uORB.h
API for the uORB lightweight object broker.
hrt_abstime
__BEGIN_DECLS typedef uint64_t hrt_abstime
Absolute time, in microsecond units.
Definition: drv_hrt.h:58
orb_metadata
Object metadata.
Definition: uORB.h:50
MavlinkOrbSubscription::update
bool update(uint64_t *time, void *data)
Check if subscription updated based on timestamp.
Definition: mavlink_orb_subscription.cpp:78
MavlinkOrbSubscription::is_published
bool is_published()
Check if the topic has been published.
Definition: mavlink_orb_subscription.cpp:136
MavlinkOrbSubscription
Definition: mavlink_orb_subscription.h:48
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