text: /****************************************************************************
   *
   *   Copyright (c) 2012-2015 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
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   * 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 Subscription.cpp
   *
   */
  
  #include "Subscription.hpp"
  #include "topics/parameter_update.h"
  #include "topics/actuator_controls.h"
  #include "topics/vehicle_gps_position.h"
  #include "topics/satellite_info.h"
  #include "topics/sensor_combined.h"
  #include "topics/hil_sensor.h"
  #include "topics/vehicle_attitude.h"
  #include "topics/vehicle_global_position.h"
  #include "topics/position_setpoint_triplet.h"
  #include "topics/vehicle_status.h"
  #include "topics/manual_control_setpoint.h"
  #include "topics/mavlink_log.h"
  #include "topics/log_message.h"
  #include "topics/vehicle_local_position_setpoint.h"
  #include "topics/vehicle_local_position.h"
  #include "topics/vehicle_attitude_setpoint.h"
  #include "topics/vehicle_rates_setpoint.h"
  #include "topics/rc_channels.h"
  #include "topics/battery_status.h"
  #include "topics/optical_flow.h"
  #include "topics/distance_sensor.h"
  #include "topics/home_position.h"
  #include "topics/vehicle_control_mode.h"
  #include "topics/actuator_armed.h"
  #include "topics/att_pos_mocap.h"
  #include "topics/vision_position_estimate.h"
  #include "topics/control_state.h"
  #include "topics/vehicle_land_detected.h"
  #include "topics/endeff_frame_status.h"
  
  /*using for manipulator  -bdai<8 Nov 2016>*/
  #include "topics/target_info.h"
  
  #include <px4_defines.h>
  
  namespace uORB
  {
  
  SubscriptionBase::SubscriptionBase(const struct orb_metadata *meta,
  				   unsigned interval, unsigned instance) :
  	_meta(meta),
  	_instance(instance),
  	_handle()
  {
  	if (_instance > 0) {
  		_handle =  orb_subscribe_multi(
  				   getMeta(), instance);
  
  	} else {
  		_handle =  orb_subscribe(getMeta());
  	}
  
  	if (_handle < 0) { PX4_ERR("sub failed"); }
  
  	if (interval > 0) {
  		orb_set_interval(getHandle(), interval);
  	}
  }
  
  bool SubscriptionBase::updated()
  {
  	bool isUpdated = false;
  	int ret = orb_check(_handle, &isUpdated);
  
  	if (ret != PX4_OK) { PX4_ERR("orb check failed"); }
  
  	return isUpdated;
  }
  
  void SubscriptionBase::update(void *data)
  {
  	if (updated()) {
  		int ret = orb_copy(_meta, _handle, data);
  
  		if (ret != PX4_OK) { PX4_ERR("orb copy failed"); }
  	}
  }
  
  SubscriptionBase::~SubscriptionBase()
  {
  	int ret = orb_unsubscribe(_handle);
  
  	if (ret != PX4_OK) { PX4_ERR("orb unsubscribe failed"); }
  }
  
  template <class T>
  Subscription<T>::Subscription(const struct orb_metadata *meta,
  			      unsigned interval,
  			      int instance,
  			      List<SubscriptionNode *> *list) :
  	SubscriptionNode(meta, interval, instance, list),
  	_data() // initialize data structure to zero
  {
  }
  
  template <class T>
  Subscription<T>::Subscription(const Subscription &other) :
  	SubscriptionNode(other._meta, other.getInterval(), other._instance, nullptr),
  	_data() // initialize data structure to zero
  {
  }
  
  template <class T>
  Subscription<T>::~Subscription()
  {
  }
  
  template <class T>
  void Subscription<T>::update()
  {
  	SubscriptionBase::update((void *)(&_data));
  }
  
  template <class T>
  bool Subscription<T>::check_updated()
  {
  	return SubscriptionBase::updated();
  }
  
  template <class T>
  const T &Subscription<T>::get() { return _data; }
  
  template class __EXPORT Subscription<parameter_update_s>;
  template class __EXPORT Subscription<actuator_controls_s>;
  template class __EXPORT Subscription<vehicle_gps_position_s>;
  template class __EXPORT Subscription<satellite_info_s>;
  template class __EXPORT Subscription<sensor_combined_s>;
  template class __EXPORT Subscription<hil_sensor_s>;
  template class __EXPORT Subscription<vehicle_attitude_s>;
  template class __EXPORT Subscription<vehicle_global_position_s>;
  template class __EXPORT Subscription<position_setpoint_triplet_s>;
  template class __EXPORT Subscription<vehicle_status_s>;
  template class __EXPORT Subscription<manual_control_setpoint_s>;
  template class __EXPORT Subscription<mavlink_log_s>;
  template class __EXPORT Subscription<log_message_s>;
  template class __EXPORT Subscription<vehicle_local_position_setpoint_s>;
  template class __EXPORT Subscription<vehicle_local_position_s>;
  template class __EXPORT Subscription<vehicle_attitude_setpoint_s>;
  template class __EXPORT Subscription<vehicle_rates_setpoint_s>;
  template class __EXPORT Subscription<rc_channels_s>;
  template class __EXPORT Subscription<vehicle_control_mode_s>;
  template class __EXPORT Subscription<actuator_armed_s>;
  template class __EXPORT Subscription<battery_status_s>;
  template class __EXPORT Subscription<home_position_s>;
  template class __EXPORT Subscription<optical_flow_s>;
  template class __EXPORT Subscription<distance_sensor_s>;
  template class __EXPORT Subscription<att_pos_mocap_s>;
  template class __EXPORT Subscription<vision_position_estimate_s>;
  template class __EXPORT Subscription<control_state_s>;
  template class __EXPORT Subscription<vehicle_land_detected_s>;
  
  /*using for motion capture system -bdai<8 Nov 2016>*/
  template class __EXPORT Subscription<target_info_s>;
  template class __EXPORT Subscription<endeff_frame_status_s>;
  
  } // namespace uORB
  