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uORB::Subscription subscribe directly to uORB device node object

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This commit is contained in:
Daniel Agar
2019-06-03 17:06:21 -04:00
parent 2d1c60bc85
commit 2c63e335e9
37 changed files with 766 additions and 270 deletions
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src/lib/controllib/block/Block.cpp
+3 -3
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@@ -42,7 +42,7 @@
#include <cstring>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionPollable.hpp>
#include <uORB/Publication.hpp>
namespace control
@@ -102,7 +102,7 @@ void Block::updateParams()
void Block::updateSubscriptions()
{
uORB::SubscriptionNode *sub = getSubscriptions().getHead();
uORB::SubscriptionPollableNode *sub = getSubscriptions().getHead();
int count = 0;
while (sub != nullptr) {
@@ -211,6 +211,6 @@ void SuperBlock::updateChildPublications()
} // namespace control
template class List<uORB::SubscriptionNode *>;
template class List<uORB::SubscriptionPollableNode *>;
template class List<uORB::PublicationNode *>;
template class List<control::BlockParamBase *>;
src/lib/controllib/block/Block.hpp
+3 -3
View File
@@ -41,7 +41,7 @@
#include <containers/List.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionPollable.hpp>
#include <controllib/block/BlockParam.hpp>
namespace control
@@ -87,7 +87,7 @@ protected:
virtual void updateParamsSubclass() {}
SuperBlock *getParent() { return _parent; }
List<uORB::SubscriptionNode *> &getSubscriptions() { return _subscriptions; }
List<uORB::SubscriptionPollableNode *> &getSubscriptions() { return _subscriptions; }
List<uORB::PublicationNode *> &getPublications() { return _publications; }
List<BlockParamBase *> &getParams() { return _params; }
@@ -95,7 +95,7 @@ protected:
SuperBlock *_parent;
float _dt{0.0f};
List<uORB::SubscriptionNode *> _subscriptions;
List<uORB::SubscriptionPollableNode *> _subscriptions;
List<uORB::PublicationNode *> _publications;
List<BlockParamBase *> _params;
};