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camera_trigger : switch to queued publisher

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This commit is contained in:
Mohammed Kabir 2017-04-29 08:42:07 +02:00 committed by Lorenz Meier
parent b5ce55bab6
commit 3ba0275952
2 changed files with 10 additions and 3 deletions
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3
msg/camera_trigger.msg
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@ -1,3 +1,4 @@
uint32 seq # Image sequence number
uint32 seq # Image sequence
uint32 ORB_QUEUE_LENGTH = 3

10
src/drivers/camera_trigger/camera_trigger.cpp
View File

@ -631,8 +631,14 @@ CameraTrigger::engage(void *arg)
report.seq = trig->_trigger_seq++;
int instance_id = 0;
orb_publish_auto(ORB_ID(camera_trigger), &trig->_trigger_pub, &report, &instance_id, ORB_PRIO_DEFAULT);
if (trig->_trigger_pub == nullptr) {
trig->_trigger_pub = orb_advertise_queue(ORB_ID(camera_trigger), &report,
camera_trigger_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &report);
}
}
void