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uORB::Publication improvements and cleanup (#14784)

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- create common uORB::PublicationBase
 - uORB::PublicationQueued types are now type aliases
 - ORB_PRIO use enum type everywhere to avoid accidental misuse
 - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
This commit is contained in:
Daniel Agar
2020-05-04 11:09:30 -04:00
committed by GitHub
parent 8e2c52a31a
commit 466b5db36f
68 changed files with 218 additions and 381 deletions
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src/lib/drivers/accelerometer/PX4Accelerometer.cpp
+10 -1
View File
@@ -63,7 +63,7 @@ static constexpr unsigned clipping(const int16_t samples[16], int16_t clip_limit
return clip_count;
}
PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
PX4Accelerometer::PX4Accelerometer(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
CDev(nullptr),
_sensor_pub{ORB_ID(sensor_accel), priority},
_sensor_fifo_pub{ORB_ID(sensor_accel_fifo), priority},
@@ -72,7 +72,11 @@ PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Ro
_device_id{device_id},
_rotation{rotation}
{
// register class and advertise immediately to keep instance numbering in sync
_class_device_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
_sensor_pub.advertise();
_sensor_integrated_pub.advertise();
_sensor_status_pub.advertise();
}
PX4Accelerometer::~PX4Accelerometer()
@@ -80,6 +84,11 @@ PX4Accelerometer::~PX4Accelerometer()
if (_class_device_instance != -1) {
unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _class_device_instance);
}
_sensor_pub.unadvertise();
_sensor_fifo_pub.unadvertise();
_sensor_integrated_pub.unadvertise();
_sensor_status_pub.unadvertise();
}
int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
src/lib/drivers/accelerometer/PX4Accelerometer.hpp
+2 -2
View File
@@ -40,7 +40,7 @@
#include <lib/drivers/device/integrator.h>
#include <lib/ecl/geo/geo.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/PublicationQueuedMulti.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_accel_fifo.h>
#include <uORB/topics/sensor_accel_integrated.h>
@@ -49,7 +49,7 @@
class PX4Accelerometer : public cdev::CDev
{
public:
PX4Accelerometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
PX4Accelerometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
~PX4Accelerometer() override;
int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;