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roboclaw update orb_publish usage to uORB::PublicationMulti<>

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This commit is contained in:
Daniel Agar
2019-11-30 15:52:53 -05:00
parent 55a3128c7d
commit 7306767a9d
2 changed files with 3 additions and 9 deletions
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src/drivers/roboclaw/RoboClaw.cpp
+1 -8
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@@ -228,14 +228,7 @@ void RoboClaw::taskMain()
_wheelEncoderMsg[i].encoder_position = _encoderCounts[i]; _wheelEncoderMsg[i].encoder_position = _encoderCounts[i];
_wheelEncoderMsg[i].speed = _motorSpeeds[i]; _wheelEncoderMsg[i].speed = _motorSpeeds[i];
if (_wheelEncodersAdv[i] == nullptr) { _wheelEncodersAdv[i].publish(_wheelEncoderMsg[i]);
int instance;
_wheelEncodersAdv[i] = orb_advertise_multi(ORB_ID(wheel_encoders), &_wheelEncoderMsg[i],
&instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(wheel_encoders), _wheelEncodersAdv[i], &_wheelEncoderMsg[i]);
}
} }
} else { } else {
src/drivers/roboclaw/RoboClaw.hpp
+2 -1
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@@ -47,6 +47,7 @@
#include <stdio.h> #include <stdio.h>
#include <termios.h> #include <termios.h>
#include <lib/parameters/param.h> #include <lib/parameters/param.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/wheel_encoders.h> #include <uORB/topics/wheel_encoders.h>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
@@ -204,7 +205,7 @@ private:
int _paramSub{-1}; int _paramSub{-1};
parameter_update_s _paramUpdate; parameter_update_s _paramUpdate;
orb_advert_t _wheelEncodersAdv[2] {nullptr, nullptr}; uORB::PublicationMulti<wheel_encoders_s> _wheelEncodersAdv[2] { ORB_ID(wheel_encoders), ORB_ID(wheel_encoders)};
wheel_encoders_s _wheelEncoderMsg[2]; wheel_encoders_s _wheelEncoderMsg[2];
uint32_t _lastEncoderCount[2] {0, 0}; uint32_t _lastEncoderCount[2] {0, 0};