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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/modules/sensors/voted_sensors_update.cpp
+1 -1
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@@ -145,7 +145,7 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)
// copy corresponding vehicle_imu_status for accel & gyro error counts
vehicle_imu_status_s imu_status{};
_vehicle_imu_status_sub[uorb_index].copy(&imu_status);
_vehicle_imu_status_subs[uorb_index].copy(&imu_status);
_accel_device_id[uorb_index] = imu_report.accel_device_id;
_gyro_device_id[uorb_index] = imu_report.gyro_device_id;
src/modules/sensors/voted_sensors_update.h
+2 -5
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@@ -48,6 +48,7 @@
#include <matrix/math.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_gyro.h>
@@ -168,11 +169,7 @@ private:
uORB::PublicationQueued<subsystem_info_s> _info_pub{ORB_ID(subsystem_info)}; /* subsystem info publication */
uORB::SubscriptionCallbackWorkItem(&_vehicle_imu_sub)[3];
uORB::Subscription _vehicle_imu_status_sub[ACCEL_COUNT_MAX] {
{ORB_ID(vehicle_imu_status), 0},
{ORB_ID(vehicle_imu_status), 1},
{ORB_ID(vehicle_imu_status), 2},
};
uORB::SubscriptionMultiArray<vehicle_imu_status_s, ACCEL_COUNT_MAX> _vehicle_imu_status_subs{ORB_ID::vehicle_imu_status};
sensor_combined_s _last_sensor_data[SENSOR_COUNT_MAX] {}; /**< latest sensor data from all sensors instances */