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Merge remote-tracking branch 'upstream/pr/1040' into uorbtinymerge

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Conflicts:
	mavlink/include/mavlink/v1.0
	src/modules/mc_att_control/mc_att_control_main.cpp
This commit is contained in:
Thomas Gubler
2014-11-25 10:49:29 +01:00
parent c37ff71e62 72f9fab4a2
commit 5b80a2ae38
8 changed files with 199 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/roboclaw/RoboClaw.cpp
+1 -1
View File
@@ -65,7 +65,7 @@ RoboClaw::RoboClaw(const char *deviceName, uint16_t address,
_pulsesPerRev(pulsesPerRev),
_uart(0),
_controlPoll(),
_actuators(NULL, ORB_ID(actuator_controls_0), 20),
_actuators(ORB_ID(actuator_controls_0), 20),
_motor1Position(0),
_motor1Speed(0),
_motor1Overflow(0),
src/modules/controllib/block/Block.cpp
+2 -2
View File
@@ -101,7 +101,7 @@ void Block::updateParams()
void Block::updateSubscriptions()
{
uORB::SubscriptionBase *sub = getSubscriptions().getHead();
uORB::SubscriptionNode *sub = getSubscriptions().getHead();
int count = 0;
while (sub != NULL) {
@@ -119,7 +119,7 @@ void Block::updateSubscriptions()
void Block::updatePublications()
{
uORB::PublicationBase *pub = getPublications().getHead();
uORB::PublicationNode *pub = getPublications().getHead();
int count = 0;
while (pub != NULL) {
src/modules/controllib/block/Block.hpp
+6 -6
View File
@@ -46,8 +46,8 @@
// forward declaration
namespace uORB {
class SubscriptionBase;
class PublicationBase;
class SubscriptionNode;
class PublicationNode;
}
namespace control
@@ -83,15 +83,15 @@ public:
protected:
// accessors
SuperBlock *getParent() { return _parent; }
List<uORB::SubscriptionBase *> & getSubscriptions() { return _subscriptions; }
List<uORB::PublicationBase *> & getPublications() { return _publications; }
List<uORB::SubscriptionNode *> & getSubscriptions() { return _subscriptions; }
List<uORB::PublicationNode *> & getPublications() { return _publications; }
List<BlockParamBase *> & getParams() { return _params; }
// attributes
const char *_name;
SuperBlock *_parent;
float _dt;
List<uORB::SubscriptionBase *> _subscriptions;
List<uORB::PublicationBase *> _publications;
List<uORB::SubscriptionNode *> _subscriptions;
List<uORB::PublicationNode *> _publications;
List<BlockParamBase *> _params;
private:
src/modules/controllib/uorb/blocks.cpp
+9 -9
View File
@@ -82,16 +82,16 @@ void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
// subscriptions
_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
_missionCmd(&getSubscriptions(), ORB_ID(position_setpoint_triplet), 20),
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
_att(ORB_ID(vehicle_attitude), 20, &getSubscriptions()),
_attCmd(ORB_ID(vehicle_attitude_setpoint), 20, &getSubscriptions()),
_ratesCmd(ORB_ID(vehicle_rates_setpoint), 20, &getSubscriptions()),
_pos(ORB_ID(vehicle_global_position), 20, &getSubscriptions()),
_missionCmd(ORB_ID(position_setpoint_triplet), 20, &getSubscriptions()),
_manual(ORB_ID(manual_control_setpoint), 20, &getSubscriptions()),
_status(ORB_ID(vehicle_status), 20, &getSubscriptions()),
_param_update(ORB_ID(parameter_update), 1000, &getSubscriptions()), // limit to 1 Hz
// publications
_actuators(&getPublications(), ORB_ID(actuator_controls_0))
_actuators(ORB_ID(actuator_controls_0), &getPublications())
{
}
src/modules/uORB/Publication.cpp
+3 -3
View File
@@ -53,10 +53,10 @@ namespace uORB {
template<class T>
Publication<T>::Publication(
List<PublicationBase *> * list,
const struct orb_metadata *meta) :
const struct orb_metadata *meta,
List<PublicationNode *> * list) :
T(), // initialize data structure to zero
PublicationBase(list, meta) {
PublicationNode(meta, list) {
}
template<class T>
src/modules/uORB/Publication.hpp
+81 -15
View File
@@ -38,6 +38,8 @@
#pragma once
#include <assert.h>
#include <uORB/uORB.h>
#include <containers/List.hpp>
@@ -49,55 +51,112 @@ namespace uORB
* Base publication warapper class, used in list traversal
* of various publications.
*/
class __EXPORT PublicationBase : public ListNode<uORB::PublicationBase *>
class __EXPORT PublicationBase
{
public:
PublicationBase(
List<PublicationBase *> * list,
const struct orb_metadata *meta) :
/**
* Constructor
*
*
* @param meta The uORB metadata (usually from the ORB_ID()
* macro) for the topic.
*/
PublicationBase(const struct orb_metadata *meta) :
_meta(meta),
_handle(-1) {
if (list != NULL) list->add(this);
}
void update() {
/**
* Update the struct
* @param data The uORB message struct we are updating.
*/
void update(void * data) {
if (_handle > 0) {
orb_publish(getMeta(), getHandle(), getDataVoidPtr());
orb_publish(getMeta(), getHandle(), data);
} else {
setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
setHandle(orb_advertise(getMeta(), data));
}
}
virtual void *getDataVoidPtr() = 0;
/**
* Deconstructor
*/
virtual ~PublicationBase() {
orb_unsubscribe(getHandle());
}
// accessors
const struct orb_metadata *getMeta() { return _meta; }
int getHandle() { return _handle; }
protected:
// accessors
void setHandle(orb_advert_t handle) { _handle = handle; }
// attributes
const struct orb_metadata *_meta;
orb_advert_t _handle;
};
/**
* alias class name so it is clear that the base class
* can be used by itself if desired
*/
typedef PublicationBase PublicationTiny;
/**
* The publication base class as a list node.
*/
class __EXPORT PublicationNode :
public PublicationBase,
public ListNode<PublicationNode *>
{
public:
/**
* Constructor
*
*
* @param meta The uORB metadata (usually from the ORB_ID()
* macro) for the topic.
* @param list A pointer to a list of subscriptions
* that this should be appended to.
*/
PublicationNode(const struct orb_metadata *meta,
List<PublicationNode *> * list=nullptr) :
PublicationBase(meta) {
if (list != nullptr) list->add(this);
}
/**
* This function is the callback for list traversal
* updates, a child class must implement it.
*/
virtual void update() = 0;
};
/**
* Publication wrapper class
*/
template<class T>
class Publication :
public T, // this must be first!
public PublicationBase
public PublicationNode
{
public:
/**
* Constructor
*
* @param list A list interface for adding to list during construction
* @param meta The uORB metadata (usually from the ORB_ID() macro)
* for the topic.
* @param meta The uORB metadata (usually from
* the ORB_ID() macro) for the topic.
* @param list A list interface for adding to
* list during construction
*/
Publication(List<PublicationBase *> * list,
const struct orb_metadata *meta);
Publication(const struct orb_metadata *meta,
List<PublicationNode *> * list=nullptr);
/**
* Deconstructor
**/
virtual ~Publication();
/*
* XXX
* This function gets the T struct, assuming
@@ -106,6 +165,13 @@ public:
* seem to be available
*/
void *getDataVoidPtr();
/**
* Create an update function that uses the embedded struct.
*/
void update() {
PublicationBase::update(getDataVoidPtr());
}
};
} // namespace uORB
src/modules/uORB/Subscription.cpp
+4 -12
View File
@@ -56,21 +56,13 @@
namespace uORB
{
bool __EXPORT SubscriptionBase::updated()
{
bool isUpdated = false;
orb_check(_handle, &isUpdated);
return isUpdated;
}
template<class T>
Subscription<T>::Subscription(
List<SubscriptionBase *> * list,
const struct orb_metadata *meta, unsigned interval) :
const struct orb_metadata *meta,
unsigned interval,
List<SubscriptionNode *> * list) :
T(), // initialize data structure to zero
SubscriptionBase(list, meta) {
setHandle(orb_subscribe(getMeta()));
orb_set_interval(getHandle(), interval);
SubscriptionNode(meta, interval, list) {
}
template<class T>
src/modules/uORB/Subscription.hpp
+93 -25
View File
@@ -38,10 +38,11 @@
#pragma once
#include <assert.h>
#include <uORB/uORB.h>
#include <containers/List.hpp>
namespace uORB
{
@@ -49,8 +50,7 @@ namespace uORB
* Base subscription warapper class, used in list traversal
* of various subscriptions.
*/
class __EXPORT SubscriptionBase :
public ListNode<SubscriptionBase *>
class __EXPORT SubscriptionBase
{
public:
// methods
@@ -58,23 +58,42 @@ public:
/**
* Constructor
*
* @param meta The uORB metadata (usually from the ORB_ID() macro)
* for the topic.
* @param meta The uORB metadata (usually from the ORB_ID()
* macro) for the topic.
*
* @param interval The minimum interval in milliseconds
* between updates
*/
SubscriptionBase(
List<SubscriptionBase *> * list,
const struct orb_metadata *meta) :
SubscriptionBase(const struct orb_metadata *meta,
unsigned interval=0) :
_meta(meta),
_handle() {
if (list != NULL) list->add(this);
setHandle(orb_subscribe(getMeta()));
orb_set_interval(getHandle(), interval);
}
bool updated();
void update() {
/**
* Check if there is a new update.
* */
bool updated() {
bool isUpdated = false;
orb_check(_handle, &isUpdated);
return isUpdated;
}
/**
* Update the struct
* @param data The uORB message struct we are updating.
*/
void update(void * data) {
if (updated()) {
orb_copy(_meta, _handle, getDataVoidPtr());
orb_copy(_meta, _handle, data);
}
}
virtual void *getDataVoidPtr() = 0;
/**
* Deconstructor
*/
virtual ~SubscriptionBase() {
orb_unsubscribe(_handle);
}
@@ -90,30 +109,79 @@ protected:
};
/**
* Subscription wrapper class
* alias class name so it is clear that the base class
*/
template<class T>
class __EXPORT Subscription :
public T, // this must be first!
public SubscriptionBase
typedef SubscriptionBase SubscriptionTiny;
/**
* The publication base class as a list node.
*/
class __EXPORT SubscriptionNode :
public SubscriptionBase,
public ListNode<SubscriptionNode *>
{
public:
/**
* Constructor
*
* @param list A list interface for adding to list during construction
* @param meta The uORB metadata (usually from the ORB_ID() macro)
* for the topic.
* @param interval The minimum interval in milliseconds between updates
*
* @param meta The uORB metadata (usually from the ORB_ID()
* macro) for the topic.
* @param interval The minimum interval in milliseconds
* between updates
* @param list A pointer to a list of subscriptions
* that this should be appended to.
*/
Subscription(
List<SubscriptionBase *> * list,
const struct orb_metadata *meta, unsigned interval);
SubscriptionNode(const struct orb_metadata *meta,
unsigned interval=0,
List<SubscriptionNode *> * list=nullptr) :
SubscriptionBase(meta, interval) {
if (list != nullptr) list->add(this);
}
/**
* This function is the callback for list traversal
* updates, a child class must implement it.
*/
virtual void update() = 0;
};
/**
* Subscription wrapper class
*/
template<class T>
class __EXPORT Subscription :
public T, // this must be first!
public SubscriptionNode
{
public:
/**
* Constructor
*
* @param meta The uORB metadata (usually from
* the ORB_ID() macro) for the topic.
* @param interval The minimum interval in milliseconds
* between updates
* @param list A list interface for adding to
* list during construction
*/
Subscription(const struct orb_metadata *meta,
unsigned interval=0,
List<SubscriptionNode *> * list=nullptr);
/**
* Deconstructor
*/
virtual ~Subscription();
/**
* Create an update function that uses the embedded struct.
*/
void update() {
SubscriptionBase::update(getDataVoidPtr());
}
/*
* XXX
* This function gets the T struct, assuming