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dataman: add DatamanClient with sync functions

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Rework of dataman
This commit is contained in:
Igor Mišić
2023-07-24 13:10:31 +02:00
committed by Beat Küng
parent c67af1479f
commit 208552fdab
27 changed files with 1392 additions and 948 deletions
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src/modules/navigator/rtl.cpp
+8 -5
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@@ -42,7 +42,7 @@
#include "rtl.h"
#include "navigator.h"
#include <dataman/dataman.h>
#include <dataman_client/DatamanClient.hpp>
#include <px4_platform_common/events.h>
#include <lib/geo/geo.h>
@@ -181,10 +181,11 @@ void RTL::find_RTL_destination()
// compare to safe landing positions
mission_safe_point_s closest_safe_point {};
mission_stats_entry_s stats;
int ret = dm_read(DM_KEY_SAFE_POINTS, 0, &stats, sizeof(mission_stats_entry_s));
bool success = _dataman_client.readSync(DM_KEY_SAFE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats),
sizeof(mission_stats_entry_s));
int num_safe_points = 0;
if (ret == sizeof(mission_stats_entry_s)) {
if (success) {
num_safe_points = stats.num_items;
}
@@ -194,8 +195,10 @@ void RTL::find_RTL_destination()
for (int current_seq = 1; current_seq <= num_safe_points; ++current_seq) {
mission_safe_point_s mission_safe_point;
if (dm_read(DM_KEY_SAFE_POINTS, current_seq, &mission_safe_point, sizeof(mission_safe_point_s)) !=
sizeof(mission_safe_point_s)) {
success = _dataman_client.readSync(DM_KEY_SAFE_POINTS, current_seq, reinterpret_cast<uint8_t *>(&mission_safe_point),
sizeof(mission_safe_point_s));
if (!success) {
PX4_ERR("dm_read failed");
continue;
}