uORB move to PX4 platform layer

platforms/common/uORB/SubscriptionInterval.hpp

@@ -0,0 +1,163 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file SubscriptionInterval.hpp
+ *
+ */
+
+#pragma once
+
+#include <uORB/uORB.h>
+#include <px4_platform_common/defines.h>
+
+#include "uORBDeviceNode.hpp"
+#include "uORBManager.hpp"
+#include "uORBUtils.hpp"
+
+#include "Subscription.hpp"
+
+#include <mathlib/mathlib.h>
+
+namespace uORB
+{
+
+// Base subscription wrapper class
+class SubscriptionInterval
+{
+public:
+
+	/**
+	 * Constructor
+	 *
+	 * @param id The uORB ORB_ID enum for the topic.
+	 * @param interval The requested maximum update interval in microseconds.
+	 * @param instance The instance for multi sub.
+	 */
+	SubscriptionInterval(ORB_ID id, uint32_t interval_us = 0, uint8_t instance = 0) :
+		_subscription{id, instance},
+		_interval_us(interval_us)
+	{}
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
+	 * @param interval The requested maximum update interval in microseconds.
+	 * @param instance The instance for multi sub.
+	 */
+	SubscriptionInterval(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) :
+		_subscription{meta, instance},
+		_interval_us(interval_us)
+	{}
+
+	SubscriptionInterval() : _subscription{nullptr} {}
+
+	~SubscriptionInterval() = default;
+
+	bool subscribe() { return _subscription.subscribe(); }
+	void unsubscribe() { _subscription.unsubscribe(); }
+
+	bool advertised() { return _subscription.advertised(); }
+
+	/**
+	 * Check if there is a new update.
+	 * */
+	bool updated()
+	{
+		if (advertised() && (hrt_elapsed_time(&_last_update) >= _interval_us)) {
+			return _subscription.updated();
+		}
+
+		return false;
+	}
+
+	/**
+	 * Copy the struct if updated.
+	 * @param dst The destination pointer where the struct will be copied.
+	 * @return true only if topic was updated and copied successfully.
+	 */
+	bool update(void *dst)
+	{
+		if (updated()) {
+			return copy(dst);
+		}
+
+		return false;
+	}
+
+	/**
+	 * Copy the struct
+	 * @param dst The destination pointer where the struct will be copied.
+	 * @return true only if topic was copied successfully.
+	 */
+	bool copy(void *dst)
+	{
+		if (_subscription.copy(dst)) {
+			const hrt_abstime now = hrt_absolute_time();
+			// shift last update time forward, but don't let it get further behind than the interval
+			_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);
+			return true;
+		}
+
+		return false;
+	}
+
+	bool		valid() const { return _subscription.valid(); }
+
+	uint8_t		get_instance() const { return _subscription.get_instance(); }
+	uint32_t        get_interval_us() const { return _interval_us; }
+	unsigned	get_last_generation() const { return _subscription.get_last_generation(); }
+	orb_id_t	get_topic() const { return _subscription.get_topic(); }
+
+	/**
+	 * Set the interval in microseconds
+	 * @param interval The interval in microseconds.
+	 */
+	void		set_interval_us(uint32_t interval) { _interval_us = interval; }
+
+	/**
+	 * Set the interval in milliseconds
+	 * @param interval The interval in milliseconds.
+	 */
+	void		set_interval_ms(uint32_t interval) { _interval_us = interval * 1000; }
+
+protected:
+
+	Subscription	_subscription;
+	uint64_t	_last_update{0};	// last update in microseconds
+	uint32_t	_interval_us{0};	// maximum update interval in microseconds
+
+};
+
+} // namespace uORB