SubscriptionMultiArray.hpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file SubscriptionMultiArray.hpp
*
*/
#pragma once
#include <uORB/uORB.h>
#include <px4_platform_common/defines.h>
#include <lib/mathlib/mathlib.h>
#include "SubscriptionInterval.hpp"
namespace uORB
{
/**
* An array of uORB::Subscriptions of the same topic
*/
template<typename T, uint8_t SIZE = ORB_MULTI_MAX_INSTANCES>
class SubscriptionMultiArray
{
public:
static_assert(SIZE <= ORB_MULTI_MAX_INSTANCES, "size must be <= uORB max instances");
static constexpr uint8_t size() { return SIZE; }
/**
* Constructor
*
* @param id The uORB ORB_ID enum for the topic.
*/
explicit SubscriptionMultiArray(ORB_ID id)
{
for (uint8_t i = 0; i < SIZE; i++) {
_subscriptions[i] = SubscriptionInterval{id, 0, i};
_subscriptions[i].subscribe();
}
}
~SubscriptionMultiArray() = default;
SubscriptionInterval &operator [](int i) { return _subscriptions[i]; }
const SubscriptionInterval &operator [](int i) const { return _subscriptions[i]; }
SubscriptionInterval *begin() { return _subscriptions; }
SubscriptionInterval *end() { return _subscriptions + SIZE; }
const SubscriptionInterval *begin() const { return _subscriptions; }
const SubscriptionInterval *end() const { return _subscriptions + SIZE; }
// true if any instance is advertised
bool advertised()
{
for (auto &s : _subscriptions) {
if (s.advertised()) {
return true;
}
}
return false;
}
// return the number of instances currently advertised
uint8_t advertised_count()
{
uint8_t count = 0;
for (auto &s : _subscriptions) {
if (s.advertised()) {
count++;
}
}
return count;
}
// true if any instance is updated
bool updated()
{
for (auto &s : _subscriptions) {
if (s.updated()) {
return true;
}
}
return false;
}
private:
SubscriptionInterval _subscriptions[SIZE];
};
} // namespace uORB