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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/modules/uORB/uORBDeviceNode.cpp
+4 -4
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@@ -55,11 +55,11 @@ uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(cdev::file_t *fil
}
uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
uint8_t priority, uint8_t queue_size) :
ORB_PRIO priority, uint8_t queue_size) :
CDev(path),
_meta(meta),
_instance(instance),
_priority(priority),
_instance(instance),
_queue_size(queue_size)
{
}
@@ -432,7 +432,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
}
#ifdef ORB_COMMUNICATOR
int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, int priority)
int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, ORB_PRIO priority)
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
@@ -445,7 +445,7 @@ int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, int priorit
/*
//TODO: Check if we need this since we only unadvertise when things all shutdown and it doesn't actually remove the device
int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, int priority)
int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, ORB_PRIO priority)
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr && meta != nullptr) {