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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.hpp
+4 -4
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@@ -55,7 +55,7 @@ class SubscriptionCallback;
class uORB::DeviceNode : public cdev::CDev, public ListNode<uORB::DeviceNode *>
{
public:
DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t priority,
DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, ORB_PRIO priority,
uint8_t queue_size = 1);
virtual ~DeviceNode();
@@ -116,8 +116,8 @@ public:
static int unadvertise(orb_advert_t handle);
#ifdef ORB_COMMUNICATOR
static int16_t topic_advertised(const orb_metadata *meta, int priority);
//static int16_t topic_unadvertised(const orb_metadata *meta, int priority);
static int16_t topic_advertised(const orb_metadata *meta, ORB_PRIO priority);
//static int16_t topic_unadvertised(const orb_metadata *meta, ORB_PRIO priority);
/**
* processes a request for add subscription from remote
@@ -263,8 +263,8 @@ private:
uint32_t _lost_messages = 0; /**< nr of lost messages for all subscribers. If two subscribers lose the same
message, it is counted as two. */
ORB_PRIO _priority; /**< priority of the topic */
const uint8_t _instance; /**< orb multi instance identifier */
uint8_t _priority; /**< priority of the topic */
bool _advertised{false}; /**< has ever been advertised (not necessarily published data yet) */
uint8_t _queue_size; /**< maximum number of elements in the queue */
int8_t _subscriber_count{0};