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UAVCAN: Correct use of unsubscribe

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Lorenz Meier
2016-12-19 20:39:03 +01:00
committed by Lorenz Meier
parent 1d98c8f202
commit 313ff2a6f2
1 changed files with 6 additions and 6 deletions
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src/modules/uavcan/uavcan_main.cpp
+6 -6
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@@ -149,9 +149,9 @@ UavcanNode::~UavcanNode()
} while (_task != -1); } while (_task != -1);
} }
(void)::close(_armed_sub); (void)orb_unsubscribe(_armed_sub);
(void)::close(_test_motor_sub); (void)orb_unsubscribe(_test_motor_sub);
(void)::close(_actuator_direct_sub); (void)orb_unsubscribe(_actuator_direct_sub);
// Removing the sensor bridges // Removing the sensor bridges
auto br = _sensor_bridges.getHead(); auto br = _sensor_bridges.getHead();
@@ -1022,12 +1022,12 @@ UavcanNode::teardown()
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) { if (_control_subs[i] > 0) {
::close(_control_subs[i]); orb_unsubscribe(_control_subs[i]);
_control_subs[i] = -1; _control_subs[i] = -1;
} }
} }
return (_armed_sub >= 0) ? ::close(_armed_sub) : 0; return (_armed_sub >= 0) ? orb_unsubscribe(_armed_sub) : 0;
} }
int int
@@ -1054,7 +1054,7 @@ UavcanNode::subscribe()
if (unsub_groups & (1 << i)) { if (unsub_groups & (1 << i)) {
warnx("unsubscribe from actuator_controls_%d", i); warnx("unsubscribe from actuator_controls_%d", i);
::close(_control_subs[i]); orb_unsubscribe(_control_subs[i]);
_control_subs[i] = -1; _control_subs[i] = -1;
} }