px4_autopilot/platforms/common/uORB/PublicationMulti.hpp

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/**
 * @file Publication.hpp
 *
 */

#pragma once

#include <px4_platform_common/defines.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include "uORBDeviceNode.hpp"

#include "Publication.hpp"

namespace uORB
{

/**
 * Base publication multi wrapper class
 */
template<typename T, uint8_t QSIZE = DefaultQueueSize<T>::value>
class PublicationMulti : public PublicationBase
{
public:

	/**
	 * Constructor
	 *
	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
	 */
	PublicationMulti(ORB_ID id) :
		PublicationBase(id)
	{}

	PublicationMulti(const orb_metadata *meta) :
		PublicationBase(static_cast<ORB_ID>(meta->o_id))
	{}

	bool advertise()
	{
		if (!advertised()) {
			int instance = 0;
			_handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, QSIZE);
		}

		return advertised();
	}

	/**
	 * Publish the struct
	 * @param data The uORB message struct we are updating.
	 */
	bool publish(const T &data)
	{
		if (!advertised()) {
			advertise();
		}

		return (orb_publish(get_topic(), _handle, &data) == PX4_OK);
	}

	int get_instance()
	{
		// advertise if not already advertised
		if (advertise()) {
			return Manager::orb_get_instance(_handle);
		}

		return -1;
	}
};

/**
 * The publication multi class with data embedded.
 */
template<typename T>
class PublicationMultiData : public PublicationMulti<T>
{
public:
	/**
	 * Constructor
	 *
	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
	 */
	PublicationMultiData(ORB_ID id) : PublicationMulti<T>(id) {}
	PublicationMultiData(const orb_metadata *meta) : PublicationMulti<T>(meta) {}

	T	&get() { return _data; }
	void	set(const T &data) { _data = data; }

	// Publishes the embedded struct.
	bool	update() { return PublicationMulti<T>::publish(_data); }
	bool	update(const T &data)
	{
		_data = data;
		return PublicationMulti<T>::publish(_data);
	}

private:
	T _data{};
};

} // namespace uORB