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move initial sensor priority to parameters and purge ORB_PRIORITY

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- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
This commit is contained in:
Daniel Agar
2020-08-16 22:21:04 -04:00
parent 971b1e4b4d
commit 27f23ac290
124 changed files with 463 additions and 509 deletions
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src/modules/uORB/uORBDeviceNode.cpp
+5 -11
View File
@@ -45,10 +45,9 @@
static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) { return static_cast<uORB::SubscriptionInterval *>(filp->f_priv); }
uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
ORB_PRIO priority, uint8_t queue_size) :
uint8_t queue_size) :
CDev(path),
_meta(meta),
_priority(priority),
_instance(instance),
_queue_size(queue_size)
{
@@ -251,10 +250,6 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
*(uintptr_t *)arg = (uintptr_t)this;
return PX4_OK;
case ORBIOCGPRIORITY:
*(int *)arg = get_priority();
return PX4_OK;
case ORBIOCSETQUEUESIZE: {
lock();
int ret = update_queue_size(arg);
@@ -351,7 +346,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
}
#ifdef ORB_COMMUNICATOR
int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, ORB_PRIO priority)
int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta)
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
@@ -364,7 +359,7 @@ int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, ORB_PRIO pr
/*
//TODO: Check if we need this since we only unadvertise when things all shutdown and it doesn't actually remove the device
int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, ORB_PRIO priority)
int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta)
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr && meta != nullptr) {
@@ -401,14 +396,13 @@ uORB::DeviceNode::print_statistics(int max_topic_length)
lock();
const uint8_t instance = get_instance();
const uint8_t priority = get_priority();
const int8_t sub_count = subscriber_count();
const uint8_t queue_size = get_queue_size();
unlock();
PX4_INFO_RAW("%-*s %2i %4i %2i %4i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count,
queue_size, get_meta()->o_size, priority, get_devname());
PX4_INFO_RAW("%-*s %2i %4i %2i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count,
queue_size, get_meta()->o_size, get_devname());
return true;
}