/****************************************************************************
 *
 *   Copyright (c) 2012-2017 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,
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 ****************************************************************************/

/**
 * @file Publication.cpp
 *
 */

#include "Publication.hpp"
#include <px4_defines.h>

namespace uORB
{

PublicationBase::PublicationBase(const struct orb_metadata *meta, int priority) :
	_meta(meta),
	_priority(priority)
{
}

PublicationBase::~PublicationBase()
{
	orb_unadvertise(_handle);
}

bool PublicationBase::update(void *data)
{
	bool updated = false;

	if (_handle != nullptr) {
		if (orb_publish(_meta, _handle, data) != PX4_OK) {
			PX4_ERR("%s publish fail", _meta->o_name);

		} else {
			updated = true;
		}

	} else {
		orb_advert_t handle = nullptr;

		if (_priority > 0) {
			int instance;
			handle = orb_advertise_multi(_meta, data, &instance, _priority);

		} else {
			handle = orb_advertise(_meta, data);
		}

		if (handle != nullptr) {
			_handle = handle;
			updated = true;

		} else {
			PX4_ERR("%s advert fail", _meta->o_name);
		}
	}

	return updated;
}

PublicationNode::PublicationNode(const struct orb_metadata *meta, int priority, List<PublicationNode *> *list) :
	PublicationBase(meta, priority)
{
	if (list != nullptr) {
		list->add(this);
	}
}

}  // namespace uORB
