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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
2020-08-21 10:12:13 -04:00
parent 971b1e4b4d
commit 27f23ac290
124 changed files with 463 additions and 509 deletions
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src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
+6 -27
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@@ -229,7 +229,7 @@ int uORBTest::UnitTest::test_unadvertise()
orb_test_s t{};
for (int i = 0; i < 4; ++i) {
_pfd[i] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance_test[i], ORB_PRIO_MAX);
_pfd[i] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance_test[i]);
if (instance_test[i] != i) {
return test_fail("got wrong instance (should be %i, is %i)", i, instance_test[i]);
@@ -335,12 +335,12 @@ int uORBTest::UnitTest::test_multi()
orb_test_s u{};
int instance0;
_pfd[0] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);
_pfd[0] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0);
test_note("advertised");
int instance1;
_pfd[1] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
_pfd[1] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1);
if (instance0 != 0) {
return test_fail("mult. id0: %d", instance0);
@@ -385,25 +385,6 @@ int uORBTest::UnitTest::test_multi()
return test_fail("sub #1 val. mismatch: %d", u.val);
}
/* test priorities */
ORB_PRIO prio;
if (PX4_OK != orb_priority(sfd0, &prio)) {
return test_fail("prio #0");
}
if (prio != ORB_PRIO_MAX) {
return test_fail("prio: %d", prio);
}
if (PX4_OK != orb_priority(sfd1, &prio)) {
return test_fail("prio #1");
}
if (prio != ORB_PRIO_MIN) {
return test_fail("prio: %d", prio);
}
if (PX4_OK != latency_test<orb_test_s>(ORB_ID(orb_test), false)) {
return test_fail("latency test failed");
}
@@ -431,7 +412,7 @@ int uORBTest::UnitTest::pub_test_multi2_main()
orb_advert_t &pub = orb_pub[i];
int idx = i;
// PX4_WARN("advertise %i, t=%" PRIu64, i, hrt_absolute_time());
pub = orb_advertise_multi(ORB_ID(orb_test_medium_multi), &data_topic, &idx, ORB_PRIO_DEFAULT);
pub = orb_advertise_multi(ORB_ID(orb_test_medium_multi), &data_topic, &idx);
if (idx != i) {
_thread_should_exit = true;
@@ -550,12 +531,10 @@ int uORBTest::UnitTest::test_multi_reversed()
t.val = 0;
int instance2;
_pfd[2] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2, ORB_PRIO_MAX);
_pfd[2] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2);
int instance3;
_pfd[3] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3, ORB_PRIO_MIN);
_pfd[3] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3);
test_note("advertised");