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Upgrade UAVCAN to multi pub/sub A API

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This commit is contained in:
Lorenz Meier
2015-01-29 16:33:53 +01:00
parent 95462c5b7c
commit 1cc4c808a8
10 changed files with 17 additions and 31 deletions
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src/modules/uavcan/sensors/sensor_bridge.cpp
+2 -4
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@@ -62,7 +62,6 @@ UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
(void)unregister_class_devname(_class_devname, _channels[i].class_instance);
}
}
delete [] _orb_topics;
delete [] _channels;
}
@@ -116,11 +115,10 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
}
// Publish to the appropriate topic, abort on failure
channel->orb_id = _orb_topics[class_instance];
channel->node_id = node_id;
channel->class_instance = class_instance;
channel->orb_advert = orb_advertise(channel->orb_id, report);
channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_HIGH);
if (channel->orb_advert < 0) {
log("ADVERTISE FAILED");
(void)unregister_class_devname(_class_devname, class_instance);
@@ -132,7 +130,7 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
}
assert(channel != nullptr);
(void)orb_publish(channel->orb_id, channel->orb_advert, report);
(void)orb_publish(_orb_topic, channel->orb_advert, report);
}
unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const