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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
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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);