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fix: template_module update to best practise

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Hamish Willee 2026-03-04 12:03:27 +11:00 committed by Ramon Roche
parent 348a558a15
commit 6f18fa39e8
5 changed files with 17 additions and 27 deletions
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4
Kconfig
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@ -220,6 +220,10 @@ menu "examples"
source "src/examples/Kconfig"
endmenu
menu "templates"
source "src/templates/Kconfig"
endmenu
menu "platforms"
depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
source "platforms/Kconfig"

1
src/templates/Kconfig Normal file
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@ -0,0 +1 @@
rsource "*/Kconfig"

5
src/templates/template_module/Kconfig Normal file
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@ -0,0 +1,5 @@
menuconfig TEMPLATES_TEMPLATE_MODULE
bool "template_module"
default n
---help---
Enable support for template_module

31
src/templates/template_module/template_module.cpp
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@ -38,7 +38,6 @@
#include <px4_platform_common/posix.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_combined.h>
ModuleBase::Descriptor TemplateModule::desc{task_spawn, custom_command, print_usage};
@ -145,42 +144,20 @@ TemplateModule::TemplateModule(int example_param, bool example_flag)
void TemplateModule::run()
{
// Example: run the loop synchronized to the sensor_combined topic publication
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
px4_pollfd_struct_t fds[1];
fds[0].fd = sensor_combined_sub;
fds[0].events = POLLIN;
// initialize parameters
parameters_update(true);
while (!should_exit()) {
// wait for up to 1000ms for data
int pret = px4_poll(fds, (sizeof(fds) / sizeof(fds[0])), 1000);
if (pret == 0) {
// Timeout: let the loop run anyway, don't do `continue` here
} else if (pret < 0) {
// this is undesirable but not much we can do
PX4_ERR("poll error %d, %d", pret, errno);
px4_usleep(50000);
continue;
} else if (fds[0].revents & POLLIN) {
struct sensor_combined_s sensor_combined;
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor_combined);
if (_sensor_accel_sub.updated()) {
sensor_accel_s accel{};
_sensor_accel_sub.copy(&accel);
// TODO: do something with the data...
}
parameters_update();
px4_usleep(10_ms);
}
orb_unsubscribe(sensor_combined_sub);
}
void TemplateModule::parameters_update(bool force)

3
src/templates/template_module/template_module.h
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@ -35,8 +35,10 @@
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_accel.h>
using namespace time_literals;
@ -89,5 +91,6 @@ private:
// Subscriptions
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _sensor_accel_sub{ORB_ID(sensor_accel)};
};