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uORB::DeviceNode replace SubscriptionData with uORB::SubscriptionInterval

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This commit is contained in:
Daniel Agar
2020-01-28 21:31:32 -05:00
parent e325ca25bb
commit 372866a22b
5 changed files with 58 additions and 197 deletions
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src/modules/uORB/Subscription.cpp
+2 -8
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@@ -65,16 +65,10 @@ bool Subscription::subscribe()
_node = node;
_node->add_internal_subscriber();
// If there were any previous publications, allow the subscriber to read them
const unsigned curr_gen = _node->published_message_count();
const uint8_t q_size = _node->get_queue_size();
if (q_size < curr_gen) {
_last_generation = curr_gen - q_size;
} else {
_last_generation = 0;
}
// If there were any previous publications allow the subscriber to read them
_last_generation = curr_gen - math::min((unsigned)_node->get_queue_size(), curr_gen);
return true;
}