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uORB fix ORB_COMMUNICATOR defined sections

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- keep portions of internal add/remove helpers
This commit is contained in:
Daniel Agar
2018-07-04 20:48:02 -04:00
committed by Lorenz Meier
parent 05fc506a56
commit 278e4cef84
2 changed files with 17 additions and 14 deletions
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src/modules/uORB/uORBDevices.cpp
+14 -11
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@@ -161,9 +161,7 @@ uORB::DeviceNode::open(device::file_t *filp)
ret = CDev::open(filp);
#ifdef ORB_COMMUNICATOR
add_internal_subscriber();
#endif /* ORB_COMMUNICATOR */
if (ret != PX4_OK) {
PX4_ERR("CDev::open failed");
@@ -196,9 +194,7 @@ uORB::DeviceNode::close(device::file_t *filp)
hrt_cancel(&sd->update_interval->update_call);
}
#ifdef ORB_COMMUNICATOR
remove_internal_subscriber();
#endif /* ORB_COMMUNICATOR */
delete sd;
sd = nullptr;
@@ -737,39 +733,46 @@ uORB::DeviceNode::print_statistics(bool reset)
return true;
}
#ifdef ORB_COMMUNICATOR
void uORB::DeviceNode::add_internal_subscriber()
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
lock();
_subscriber_count++;
#ifdef ORB_COMMUNICATOR
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr && _subscriber_count > 0) {
unlock(); //make sure we cannot deadlock if add_subscription calls back into DeviceNode
ch->add_subscription(_meta->o_name, 1);
} else {
} else
#endif /* ORB_COMMUNICATOR */
{
unlock();
}
}
void uORB::DeviceNode::remove_internal_subscriber()
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
lock();
_subscriber_count--;
#ifdef ORB_COMMUNICATOR
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr && _subscriber_count == 0) {
unlock(); //make sure we cannot deadlock if remove_subscription calls back into DeviceNode
ch->remove_subscription(_meta->o_name);
} else {
} else
#endif /* ORB_COMMUNICATOR */
{
unlock();
}
}
#ifdef ORB_COMMUNICATOR
int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz)
{
// if there is already data in the node, send this out to