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77 lines
2.3 KiB
77 lines
2.3 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2014 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 px4_message.h |
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* |
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* Defines the message base types |
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*/ |
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#pragma once |
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#if defined(__PX4_ROS) |
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typedef const char *PX4TopicHandle; |
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#else |
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#include <uORB/uORB.h> |
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typedef orb_id_t PX4TopicHandle; |
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#endif |
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namespace px4 |
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{ |
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template <typename M> |
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class __EXPORT PX4Message |
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{ |
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// friend class NodeHandle; |
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// #if defined(__PX4_ROS) |
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// template<typename T> |
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// friend class SubscriberROS; |
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// #endif |
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public: |
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PX4Message() : |
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_data() |
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{} |
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PX4Message(M msg) : |
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_data(msg) |
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{} |
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virtual ~PX4Message() {}; |
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virtual M &data() {return _data;} |
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virtual const M &data() const {return _data;} |
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private: |
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M _data; |
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}; |
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}
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