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mavlink move to new lightweight uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-06-03 17:06:21 -04:00
parent 2c63e335e9
commit 579cbbb42c
11 changed files with 97 additions and 330 deletions
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src/modules/mavlink/mavlink_parameters.cpp
+7 -39
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@@ -42,33 +42,16 @@
#include <stdio.h>
#include <uORB/topics/uavcan_parameter_request.h>
#include <uORB/topics/uavcan_parameter_value.h>
#include "mavlink_parameters.h"
#include "mavlink_main.h"
MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) :
_send_all_index(-1),
_uavcan_open_request_list(nullptr),
_uavcan_waiting_for_request_response(false),
_uavcan_queued_request_items(0),
_rc_param_map_pub(nullptr),
_rc_param_map(),
_uavcan_parameter_request_pub(nullptr),
_uavcan_parameter_value_sub(-1),
_mavlink_parameter_sub(-1),
_param_update_time(0),
_param_update_index(0),
_mavlink(mavlink)
{
}
MavlinkParametersManager::~MavlinkParametersManager()
{
if (_uavcan_parameter_value_sub >= 0) {
orb_unsubscribe(_uavcan_parameter_value_sub);
}
if (_uavcan_parameter_request_pub) {
orb_unadvertise(_uavcan_parameter_request_pub);
}
@@ -349,18 +332,10 @@ MavlinkParametersManager::send_untransmitted()
{
bool sent_one = false;
// Check for untransmitted system parameters
if (_mavlink_parameter_sub < 0) {
_mavlink_parameter_sub = orb_subscribe(ORB_ID(parameter_update));
}
bool param_ready;
orb_check(_mavlink_parameter_sub, &param_ready);
if (param_ready) {
if (_mavlink_parameter_sub.updated()) {
// Clear the ready flag
struct parameter_update_s value;
orb_copy(ORB_ID(parameter_update), _mavlink_parameter_sub, &value);
parameter_update_s value;
_mavlink_parameter_sub.update(&value);
// Schedule an update if not already the case
if (_param_update_time == 0) {
@@ -408,16 +383,9 @@ bool
MavlinkParametersManager::send_uavcan()
{
/* Send parameter values received from the UAVCAN topic */
if (_uavcan_parameter_value_sub < 0) {
_uavcan_parameter_value_sub = orb_subscribe(ORB_ID(uavcan_parameter_value));
}
bool param_value_ready;
orb_check(_uavcan_parameter_value_sub, &param_value_ready);
if (param_value_ready) {
struct uavcan_parameter_value_s value;
orb_copy(ORB_ID(uavcan_parameter_value), _uavcan_parameter_value_sub, &value);
if (_uavcan_parameter_value_sub.updated()) {
uavcan_parameter_value_s value;
_uavcan_parameter_value_sub.update(&value);
// Check if we received a matching parameter, drop it from the list and request the next
if (_uavcan_open_request_list != nullptr