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112 lines
3.1 KiB
112 lines
3.1 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file Subscription.cpp |
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* |
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*/ |
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#include "Subscription.hpp" |
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#include <px4_platform_common/defines.h> |
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namespace uORB |
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{ |
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bool Subscription::subscribe() |
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{ |
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// check if already subscribed |
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if (_node != nullptr) { |
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return true; |
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} |
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if ((_orb_id != ORB_ID::INVALID) && uORB::Manager::get_instance()) { |
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DeviceMaster *device_master = uORB::Manager::get_instance()->get_device_master(); |
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if (device_master != nullptr) { |
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if (!device_master->deviceNodeExists(_orb_id, _instance)) { |
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return false; |
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} |
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uORB::DeviceNode *node = device_master->getDeviceNode(get_topic(), _instance); |
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if (node != nullptr) { |
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_node = node; |
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_node->add_internal_subscriber(); |
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_last_generation = _node->get_initial_generation(); |
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return true; |
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} |
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} |
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} |
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return false; |
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} |
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void Subscription::unsubscribe() |
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{ |
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if (_node != nullptr) { |
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_node->remove_internal_subscriber(); |
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} |
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_node = nullptr; |
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_last_generation = 0; |
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} |
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bool Subscription::ChangeInstance(uint8_t instance) |
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{ |
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if (instance != _instance) { |
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DeviceMaster *device_master = uORB::Manager::get_instance()->get_device_master(); |
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if (device_master != nullptr) { |
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if (!device_master->deviceNodeExists(_orb_id, instance)) { |
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return false; |
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} |
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// if desired new instance exists, unsubscribe from current |
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unsubscribe(); |
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_instance = instance; |
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subscribe(); |
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return true; |
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} |
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} else { |
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// already on desired index |
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return true; |
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} |
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return false; |
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} |
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} // namespace uORB
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