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Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function.

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This commit is contained in:
Philipp Oettershagen
2018-06-06 18:54:24 +02:00
committed by Beat Küng
parent 40e6a5a39b
commit 6f1f414b49
31 changed files with 427 additions and 266 deletions
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src/drivers/distance_sensor/srf02/srf02.cpp
+2 -16
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@@ -60,6 +60,7 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
@@ -593,22 +594,7 @@ SRF02::start()
work_queue(HPWORK, &_work, (worker_t)&SRF02::cycle_trampoline, this, 5);
/* notify about state change */
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void