/****************************************************************************
 *
 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
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 * 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
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/**
 * @file listener.hpp
 *
 */

#pragma once

#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/app.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <uORB/uORB.h>
#include <string.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <inttypes.h>

typedef int(*listener_print_topic_cb)(const orb_id_t &orb_id, int subscription);

template <typename T>
int listener_print_topic(const orb_id_t &orb_id, int subscription)
{
	T container;

	int ret = orb_copy(orb_id, subscription, &container);

	if (ret == PX4_OK) {
		print_message(container);
	}

	return ret;
}

void listener(listener_print_topic_cb cb, const orb_id_t &id, unsigned num_msgs, int topic_instance,
	      unsigned topic_interval);
