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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.h
+14 -11
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@@ -46,8 +46,10 @@
#include "mavlink_bridge_header.h"
#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/uavcan_parameter_request.h>
#include <uORB/topics/uavcan_parameter_value.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
@@ -70,7 +72,7 @@ public:
void handle_message(const mavlink_message_t *msg);
private:
int _send_all_index;
int _send_all_index{-1};
/* do not allow top copying this class */
MavlinkParametersManager(MavlinkParametersManager &);
@@ -119,18 +121,19 @@ protected:
*/
void dequeue_uavcan_request();
_uavcan_open_request_list_item *_uavcan_open_request_list; ///< Pointer to the first item in the linked list
bool _uavcan_waiting_for_request_response; ///< We have reqested a parameter and wait for the response
uint16_t _uavcan_queued_request_items; ///< Number of stored parameter requests currently in the list
_uavcan_open_request_list_item *_uavcan_open_request_list{nullptr}; ///< Pointer to the first item in the linked list
bool _uavcan_waiting_for_request_response{false}; ///< We have reqested a parameter and wait for the response
uint16_t _uavcan_queued_request_items{0}; ///< Number of stored parameter requests currently in the list
orb_advert_t _rc_param_map_pub;
struct rc_parameter_map_s _rc_param_map;
orb_advert_t _rc_param_map_pub{nullptr};
rc_parameter_map_s _rc_param_map{};
orb_advert_t _uavcan_parameter_request_pub;
int _uavcan_parameter_value_sub;
int _mavlink_parameter_sub;
hrt_abstime _param_update_time;
int _param_update_index;
orb_advert_t _uavcan_parameter_request_pub{nullptr};
uORB::Subscription _uavcan_parameter_value_sub{ORB_ID(uavcan_parameter_value)};
uORB::Subscription _mavlink_parameter_sub{ORB_ID(parameter_update)};
hrt_abstime _param_update_time{0};
int _param_update_index{0};
Mavlink *_mavlink;
};