uORB.h

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#ifndef _UORB_UORB_H
#define _UORB_UORB_H

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>


struct orb_metadata {
    const char *o_name;     
    const uint16_t o_size;      
    const uint16_t o_size_no_padding;   
    const char *o_fields;       
};

typedef const struct orb_metadata *orb_id_t;

#define ORB_MULTI_MAX_INSTANCES 4 // This must be < 10 (because it's the last char of the node path)

enum ORB_PRIO {
    ORB_PRIO_MIN = 1, // leave 0 free for other purposes, eg. marking an uninitialized value
    ORB_PRIO_VERY_LOW = 25,
    ORB_PRIO_LOW = 50,
    ORB_PRIO_DEFAULT = 75,
    ORB_PRIO_HIGH = 100,
    ORB_PRIO_VERY_HIGH = 125,
    ORB_PRIO_MAX = 255
};

#define ORB_ID(_name)       &__orb_##_name

#if defined(__cplusplus)
# define ORB_DECLARE(_name)     extern "C" const struct orb_metadata __orb_##_name __EXPORT
#else
# define ORB_DECLARE(_name)     extern const struct orb_metadata __orb_##_name __EXPORT
#endif

#define ORB_DEFINE(_name, _struct, _size_no_padding, _fields)       \
    const struct orb_metadata __orb_##_name = { \
        #_name,                 \
        sizeof(_struct),        \
        _size_no_padding,           \
        _fields                 \
    }; struct hack

__BEGIN_DECLS

typedef void    *orb_advert_t;

extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;

extern orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data,
                    unsigned int queue_size) __EXPORT;

extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
                    int priority) __EXPORT;

extern orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
        int priority, unsigned int queue_size) __EXPORT;

extern int orb_unadvertise(orb_advert_t handle) __EXPORT;

extern int  orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;

static inline int orb_publish_auto(const struct orb_metadata *meta, orb_advert_t *handle, const void *data,
                   int *instance,
                   int priority)
{
    if (!*handle) {
        *handle = orb_advertise_multi(meta, data, instance, priority);

        if (*handle) {
            return 0;
        }

    } else {
        return orb_publish(meta, *handle, data);
    }

    return -1;
}

extern int  orb_subscribe(const struct orb_metadata *meta) __EXPORT;

extern int  orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance) __EXPORT;

extern int  orb_unsubscribe(int handle) __EXPORT;

extern int  orb_copy(const struct orb_metadata *meta, int handle, void *buffer) __EXPORT;

extern int  orb_check(int handle, bool *updated) __EXPORT;

extern int  orb_stat(int handle, uint64_t *time) __EXPORT;

extern int  orb_exists(const struct orb_metadata *meta, int instance) __EXPORT;

extern int  orb_group_count(const struct orb_metadata *meta) __EXPORT;

extern int  orb_priority(int handle, int32_t *priority) __EXPORT;

extern int  orb_set_interval(int handle, unsigned interval) __EXPORT;

extern int  orb_get_interval(int handle, unsigned *interval) __EXPORT;

__END_DECLS

/* Diverse uORB header defines */ //XXX: move to better location
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS    ORB_ID(actuator_controls_0)
typedef uint8_t arming_state_t;
typedef uint8_t main_state_t;
typedef uint8_t hil_state_t;
typedef uint8_t navigation_state_t;
typedef uint8_t switch_pos_t;

#endif /* _UORB_UORB_H */