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blinkm: Remove the barrage of static variables in mainloop, eating up RAM for everybody

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This commit is contained in:
Lorenz Meier 2014-05-13 08:04:53 +02:00
parent 7e9f234da7
commit 227d52b02c
1 changed files with 41 additions and 26 deletions
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67
src/drivers/blinkm/blinkm.cpp
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@ -194,6 +194,26 @@ private:
bool systemstate_run;
int vehicle_status_sub_fd;
int vehicle_control_mode_sub_fd;
int vehicle_gps_position_sub_fd;
int actuator_armed_sub_fd;
int safety_sub_fd;
int num_of_cells;
int detected_cells_runcount;
int t_led_color[8];
int t_led_blink;
int led_thread_runcount;
int led_interval;
bool topic_initialized;
bool detected_cells_blinked;
bool led_thread_ready;
int num_of_used_sats;
void setLEDColor(int ledcolor);
static void led_trampoline(void *arg);
void led();
@ -265,7 +285,22 @@ BlinkM::BlinkM(int bus, int blinkm) :
led_color_7(LED_OFF),
led_color_8(LED_OFF),
led_blink(LED_NOBLINK),
systemstate_run(false)
systemstate_run(false),
vehicle_status_sub_fd(-1),
vehicle_control_mode_sub_fd(-1),
vehicle_gps_position_sub_fd(-1),
actuator_armed_sub_fd(-1),
safety_sub_fd(-1),
num_of_cells(0),
detected_cells_runcount(0),
t_led_color({0}),
t_led_blink(0),
led_thread_runcount(0),
led_interval(1000),
topic_initialized(false),
detected_cells_blinked(false),
led_thread_ready(true),
num_of_used_sats(0)
{
memset(&_work, 0, sizeof(_work));
}
@ -382,31 +417,6 @@ void
BlinkM::led()
{
static int vehicle_status_sub_fd;
static int vehicle_control_mode_sub_fd;
static int vehicle_gps_position_sub_fd;
static int actuator_armed_sub_fd;
static int safety_sub_fd;
static int num_of_cells = 0;
static int detected_cells_runcount = 0;
static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0};
static int t_led_blink = 0;
static int led_thread_runcount=0;
static int led_interval = 1000;
static int no_data_vehicle_status = 0;
static int no_data_vehicle_control_mode = 0;
static int no_data_actuator_armed = 0;
static int no_data_vehicle_gps_position = 0;
static bool topic_initialized = false;
static bool detected_cells_blinked = false;
static bool led_thread_ready = true;
int num_of_used_sats = 0;
if(!topic_initialized) {
vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(vehicle_status_sub_fd, 250);
@ -494,6 +504,11 @@ BlinkM::led()
orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
int no_data_vehicle_status = 0;
int no_data_vehicle_control_mode = 0;
int no_data_actuator_armed = 0;
int no_data_vehicle_gps_position = 0;
if (new_data_vehicle_status) {
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
no_data_vehicle_status = 0;