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uORB: introduce SubscriptionMultiArray for working with multi-instances

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This commit is contained in:
Daniel Agar
2020-09-02 12:46:47 -04:00
committed by GitHub
parent 71f381ada9
commit 6ff361479c
20 changed files with 234 additions and 169 deletions
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src/drivers/uavcan/sensors/sensor_bridge.hpp
+1 -1
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@@ -105,7 +105,7 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD
bool _out_of_channels = false;
protected:
static constexpr unsigned DEFAULT_MAX_CHANNELS = ORB_MULTI_MAX_INSTANCES;
static constexpr unsigned DEFAULT_MAX_CHANNELS = 4;
const unsigned _max_channels;
UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname,
src/drivers/uavcannode/UavcanNode.cpp
+1 -1
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@@ -380,7 +380,7 @@ void UavcanNode::Run()
}
// distance_sensor[] -> uavcan::equipment::range_sensor::Measurement
for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
for (int i = 0; i < MAX_INSTANCES; i++) {
distance_sensor_s dist;
if (_distance_sensor_sub[i].update(&dist)) {
src/drivers/uavcannode/UavcanNode.hpp
+2 -1
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@@ -183,7 +183,8 @@ private:
uORB::SubscriptionCallbackWorkItem _battery_status_sub{this, ORB_ID(battery_status)};
uORB::SubscriptionCallbackWorkItem _diff_pressure_sub{this, ORB_ID(differential_pressure)};
uORB::SubscriptionCallbackWorkItem _distance_sensor_sub[ORB_MULTI_MAX_INSTANCES] {
static constexpr int MAX_INSTANCES = 4;
uORB::SubscriptionCallbackWorkItem _distance_sensor_sub[MAX_INSTANCES] {
{this, ORB_ID(distance_sensor), 0},
{this, ORB_ID(distance_sensor), 1},
{this, ORB_ID(distance_sensor), 2},