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mavlink: replace MavlinkOrbSubscription with uORB::Subscription

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* uORB orb_stat() and update(uint64_t *time, void *dst) are now obsolete and have been deleted
 * mavlink messages add more advertised checks in streams get_size() check to improve data rate calculation across different scenarios
This commit is contained in:
Daniel Agar
2020-03-14 12:52:46 -04:00
committed by GitHub
parent 4f2d39cb15
commit 5fcd7932e9
19 changed files with 718 additions and 1320 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uORB/Subscription.cpp
-15
View File
@@ -94,19 +94,4 @@ void Subscription::unsubscribe()
_last_generation = 0;
}
bool Subscription::update(uint64_t *time, void *dst)
{
if ((time != nullptr) && (dst != nullptr) && advertised()) {
// always copy data to dst regardless of update
const uint64_t t = _node->copy_and_get_timestamp(dst, _last_generation);
if (*time == 0 || *time != t) {
*time = t;
return true;
}
}
return false;
}
} // namespace uORB
src/modules/uORB/Subscription.hpp
-11
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@@ -118,17 +118,6 @@ public:
*/
bool update(void *dst) { return updated() ? copy(dst) : false; }
/**
* Check if subscription updated based on timestamp.
*
* @return true only if topic was updated based on a timestamp and
* copied to buffer successfully.
* If topic was not updated since last check it will return false but
* still copy the data.
* If no data available data buffer will be filled with zeros.
*/
bool update(uint64_t *time, void *dst);
/**
* Copy the struct
* @param data The uORB message struct we are updating.
src/modules/uORB/uORB.cpp
-5
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@@ -97,11 +97,6 @@ int orb_check(int handle, bool *updated)
return uORB::Manager::get_instance()->orb_check(handle, updated);
}
int orb_stat(int handle, uint64_t *time)
{
return uORB::Manager::get_instance()->orb_stat(handle, time);
}
int orb_exists(const struct orb_metadata *meta, int instance)
{
return uORB::Manager::get_instance()->orb_exists(meta, instance);
src/modules/uORB/uORB.h
-5
View File
@@ -221,11 +221,6 @@ extern int orb_copy(const struct orb_metadata *meta, int handle, void *buffer) _
*/
extern int orb_check(int handle, bool *updated) __EXPORT;
/**
* @see uORB::Manager::orb_stat()
*/
extern int orb_stat(int handle, uint64_t *time) __EXPORT;
/**
* @see uORB::Manager::orb_exists()
*/
src/modules/uORB/uORBDeviceNode.cpp
+3 -27
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@@ -183,19 +183,6 @@ uORB::DeviceNode::copy(void *dst, unsigned &generation)
return updated;
}
uint64_t
uORB::DeviceNode::copy_and_get_timestamp(void *dst, unsigned &generation)
{
ATOMIC_ENTER;
const hrt_abstime update_time = _last_update;
copy_locked(dst, generation);
ATOMIC_LEAVE;
return update_time;
}
ssize_t
uORB::DeviceNode::read(cdev::file_t *filp, char *buffer, size_t buflen)
{
@@ -216,13 +203,13 @@ uORB::DeviceNode::read(cdev::file_t *filp, char *buffer, size_t buflen)
*/
ATOMIC_ENTER;
copy_locked(buffer, sd->generation);
// if subscriber has an interval track the last update time
if (sd->update_interval) {
sd->update_interval->last_update = _last_update;
sd->update_interval->last_update = hrt_absolute_time();
}
copy_locked(buffer, sd->generation);
ATOMIC_LEAVE;
return _meta->o_size;
@@ -279,10 +266,6 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
memcpy(_data + (_meta->o_size * (generation % _queue_size)), buffer, _meta->o_size);
/* update the timestamp and generation count */
_last_update = hrt_absolute_time();
// callbacks
for (auto item : _callbacks) {
item->call();
@@ -302,13 +285,6 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
SubscriberData *sd = filp_to_sd(filp);
switch (cmd) {
case ORBIOCLASTUPDATE: {
ATOMIC_ENTER;
*(hrt_abstime *)arg = _last_update;
ATOMIC_LEAVE;
return PX4_OK;
}
case ORBIOCUPDATED: {
ATOMIC_ENTER;
*(bool *)arg = appears_updated(sd);
src/modules/uORB/uORBDeviceNode.hpp
+7 -21
View File
@@ -214,21 +214,6 @@ public:
*/
bool copy(void *dst, unsigned &generation);
/**
* Copies data and the corresponding generation
* from a node to the buffer provided.
*
* @param dst
* The buffer into which the data is copied.
* If topic was not updated since last check it will return false but
* still copy the data.
* @param generation
* The generation that was copied.
* @return uint64_t
* Returns the timestamp of the copied data.
*/
uint64_t copy_and_get_timestamp(void *dst, unsigned &generation);
// add item to list of work items to schedule on node update
bool register_callback(SubscriptionCallback *callback_sub);
@@ -269,20 +254,21 @@ private:
};
const orb_metadata *_meta; /**< object metadata information */
const uint8_t _instance; /**< orb multi instance identifier */
uint8_t *_data{nullptr}; /**< allocated object buffer */
hrt_abstime _last_update{0}; /**< time the object was last updated */
px4::atomic<unsigned> _generation{0}; /**< object generation count */
List<uORB::SubscriptionCallback *> _callbacks;
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};
// statistics
uint32_t _lost_messages = 0; /**< nr of lost messages for all subscribers. If two subscribers lose the same
message, it is counted as two. */
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};
inline static SubscriberData *filp_to_sd(cdev::file_t *filp);
/**
src/modules/uORB/uORBManager.cpp
-5
View File
@@ -305,11 +305,6 @@ int uORB::Manager::orb_check(int handle, bool *updated)
return px4_ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
}
int uORB::Manager::orb_stat(int handle, uint64_t *time)
{
return px4_ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
}
int uORB::Manager::orb_priority(int handle, int32_t *priority)
{
return px4_ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
src/modules/uORB/uORBManager.hpp
+4 -17
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@@ -177,7 +177,7 @@ public:
*
* The data is atomically published to the topic and any waiting subscribers
* will be notified. Subscribers that are not waiting can check the topic
* for updates using orb_check and/or orb_stat.
* for updates using orb_check.
*
* @param meta The uORB metadata (usually from the ORB_ID() macro)
* for the topic.
@@ -192,7 +192,7 @@ public:
*
* The returned value is a file descriptor that can be passed to poll()
* in order to wait for updates to a topic, as well as topic_read,
* orb_check and orb_stat.
* orb_check.
*
* If there were any publications of the topic prior to the subscription,
* an orb_check right after orb_subscribe will return true.
@@ -222,7 +222,7 @@ public:
*
* The returned value is a file descriptor that can be passed to poll()
* in order to wait for updates to a topic, as well as topic_read,
* orb_check and orb_stat.
* orb_check.
*
* If there were any publications of the topic prior to the subscription,
* an orb_check right after orb_subscribe_multi will return true.
@@ -289,9 +289,7 @@ public:
* topic is likely to have updated.
*
* Updates are tracked on a per-handle basis; this call will continue to
* return true until orb_copy is called using the same handle. This interface
* should be preferred over calling orb_stat due to the race window between
* stat and copy that can lead to missed updates.
* return true until orb_copy is called using the same handle.
*
* @param handle A handle returned from orb_subscribe.
* @param updated Set to true if the topic has been updated since the
@@ -301,17 +299,6 @@ public:
*/
int orb_check(int handle, bool *updated);
/**
* Return the last time that the topic was updated. If a queue is used, it returns
* the timestamp of the latest element in the queue.
*
* @param handle A handle returned from orb_subscribe.
* @param time Returns the absolute time that the topic was updated, or zero if it has
* never been updated. Time is measured in microseconds.
* @return OK on success, PX4_ERROR otherwise with errno set accordingly.
*/
int orb_stat(int handle, uint64_t *time);
/**
* Check if a topic has already been created and published (advertised)
*