mavlink_orb_subscription.h

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/**
 * @file mavlink_orb_subscription.h
 * uORB subscription definition.
 *
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#ifndef MAVLINK_ORB_SUBSCRIPTION_H_
#define MAVLINK_ORB_SUBSCRIPTION_H_

#include <drivers/drv_hrt.h>
#include <containers/List.hpp>
#include "uORB/uORB.h"	// orb_id_t

class MavlinkOrbSubscription : public ListNode<MavlinkOrbSubscription *>
{
public:

	MavlinkOrbSubscription(const orb_id_t topic, int instance);
	~MavlinkOrbSubscription();

	/**
	 * Check if subscription updated based on timestamp.
	 *
	 * @return true only if topic was updated based on a timestamp and
	 * copied to buffer successfully.
	 * If topic was not updated since last check it will return false but
	 * still copy the data.
	 * If no data available data buffer will be filled with zeros.
	 */
	bool update(uint64_t *time, void *data);

	/**
	 * Copy topic data to given buffer.
	 *
	 * @return true only if topic data copied successfully.
	 */
	bool update(void *data);

	/**
	 * Check if the subscription has been updated.
	 *
	 * @return true if there has been an update which has been
	 * copied successfully.
	 */
	bool update_if_changed(void *data);

	/**
	 * Check if the topic has been published.
	 *
	 * This call will return true if the topic was ever published.
	 * @return true if the topic has been published at least once.
	 * If no data is available the buffer will be filled with zeros.
	 */
	bool is_published();

	void subscribe_from_beginning(bool from_beginning);

	orb_id_t get_topic() const;
	int get_instance() const;

	int get_fd() { return _fd; }

private:
	const orb_id_t _topic;		///< topic metadata
	const uint8_t _instance;		///< get topic instance

	int _fd{-1};			///< subscription handle

	bool _published{false};		///< topic was ever published

	bool _subscribe_from_beginning{false}; ///< we need to subscribe from the beginning, e.g. for vehicle_command_acks

	hrt_abstime _last_pub_check{0};	///< when we checked last

	/* do not allow copying this class */
	MavlinkOrbSubscription(const MavlinkOrbSubscription &);
	MavlinkOrbSubscription operator=(const MavlinkOrbSubscription &);
};


#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */