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uavcan module cleanup

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- move most orb to uORB::Publication and uORB::Subscription
 - update legacy message handling (warn to PX4_INFO, PX4_WARN, PX4_ERR)
 - add perf counters
 - sensors/mag support newer `uavcan::equipment::ahrs::MagneticFieldStrength2` message
 - sensors/gps support `uavcan::equipment::gnss::Auxiliary` for hdop and vdop
 - sensors delete obsolete ioctl and read methods
 - use PublicationMulti for actuator_outputs and esc_reports (to coexist with other output modules)
 - add GNSS parameter metadata (parameters_injected.xml)
This commit is contained in:
Daniel Agar
2019-10-28 19:57:50 -04:00
committed by GitHub
parent 47dd312b57
commit 375fc4a75c
22 changed files with 705 additions and 677 deletions
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src/drivers/uavcan/uavcan_servers.hpp
+8 -5
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@@ -35,9 +35,11 @@
#include <px4_config.h>
#include "uavcan_driver.hpp"
#include <drivers/device/device.h>
#include <drivers/device/Device.hpp>
#include <lib/perf/perf_counter.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/uavcan_parameter_value.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uavcan/node/sub_node.hpp>
@@ -110,9 +112,9 @@ public:
bool guessIfAllDynamicNodesAreAllocated() { return _server_instance.guessIfAllDynamicNodesAreAllocated(); }
private:
pthread_t _subnode_thread;
pthread_mutex_t _subnode_mutex;
volatile bool _subnode_thread_should_exit = false;
pthread_t _subnode_thread{-1};
pthread_mutex_t _subnode_mutex{};
volatile bool _subnode_thread_should_exit{false};
int init();
@@ -161,7 +163,7 @@ private:
bool _cmd_in_progress = false;
// uORB topic handle for MAVLink parameter responses
orb_advert_t _param_response_pub = nullptr;
uORB::Publication<uavcan_parameter_value_s> _param_response_pub{ORB_ID(uavcan_parameter_value)};
uORB::PublicationQueued<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
typedef uavcan::MethodBinder<UavcanServers *,
@@ -171,6 +173,7 @@ private:
ExecuteOpcodeCallback;
typedef uavcan::MethodBinder<UavcanServers *,
void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &)> RestartNodeCallback;
void cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
void cb_count(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
void cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);