px4_autopilot/platforms/common/uORB/SubscriptionMultiArray.hpp

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/**
 * @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