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uorb: allow an orb subscription to retrieve data that was published prior to subscribe

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This commit is contained in:
Beat Küng 2018-07-16 09:38:56 +02:00 committed by Lorenz Meier
parent 3f615695b6
commit 2fe5e7735a
2 changed files with 8 additions and 7 deletions
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9
src/modules/uORB/uORBDevices.cpp
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@ -146,13 +146,8 @@ uORB::DeviceNode::open(device::file_t *filp)
return -ENOMEM;
}
/* If queue size >1, allow the subscriber to read the data in the queue. Otherwise, assume subscriber is up to date.*/
if (_queue_size <= 1) {
sd->generation = _generation;
} else {
sd->generation = _generation - (_queue_size < _generation ? _queue_size : _generation);
}
/* If there were any previous publications, allow the subscriber to read them */
sd->generation = _generation - (_queue_size < _generation ? _queue_size : _generation);
/* set priority */
sd->set_priority(_priority);

6
src/modules/uORB/uORBManager.hpp
View File

@ -186,6 +186,9 @@ public:
* in order to wait for updates to a topic, as well as topic_read,
* orb_check and orb_stat.
*
* If there were any publications of the topic prior to the subscription,
* an orb_check right after orb_subscribe will return true.
*
* Subscription will succeed even if the topic has not been advertised;
* in this case the topic will have a timestamp of zero, it will never
* signal a poll() event, checking will always return false and it cannot
@ -213,6 +216,9 @@ public:
* in order to wait for updates to a topic, as well as topic_read,
* orb_check and orb_stat.
*
* If there were any publications of the topic prior to the subscription,
* an orb_check right after orb_subscribe_multi will return true.
*
* Subscription will succeed even if the topic has not been advertised;
* in this case the topic will have a timestamp of zero, it will never
* signal a poll() event, checking will always return false and it cannot