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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/magnetometer/PX4Magnetometer.cpp
+5 -1
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@@ -36,13 +36,15 @@
#include <lib/drivers/device/Device.hpp>
PX4Magnetometer::PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
PX4Magnetometer::PX4Magnetometer(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
CDev(nullptr),
_sensor_mag_pub{ORB_ID(sensor_mag), priority},
_rotation{rotation}
{
_class_device_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
_sensor_mag_pub.advertise();
_sensor_mag_pub.get().device_id = device_id;
_sensor_mag_pub.get().scaling = 1.0f;
_sensor_mag_pub.get().temperature = NAN;
@@ -53,6 +55,8 @@ PX4Magnetometer::~PX4Magnetometer()
if (_class_device_instance != -1) {
unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_device_instance);
}
_sensor_mag_pub.unadvertise();
}
int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
src/lib/drivers/magnetometer/PX4Magnetometer.hpp
+1 -1
View File
@@ -45,7 +45,7 @@ class PX4Magnetometer : public cdev::CDev
{
public:
PX4Magnetometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
PX4Magnetometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
~PX4Magnetometer() override;
int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;