fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-15 19:51:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixes to the ModalAI muorb implementation

Browse Source
This commit is contained in:
Eric Katzfey
2024-02-27 19:56:17 -08:00
parent b405d75553
commit 76352765b6
3 changed files with 52 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/uORB/uORB.h
+18 -1
View File
@@ -53,6 +53,10 @@ struct orb_metadata {
const uint16_t o_size_no_padding; /**< object size w/o padding at the end (for logger) */
uint32_t message_hash; /**< Hash over all fields for message compatibility checks */
orb_id_size_t o_id; /**< ORB_ID enum */
#ifdef CONFIG_ORB_COMMUNICATOR
uint8_t o_queue; /**< queue size */
#endif
};
typedef const struct orb_metadata *orb_id_t;
@@ -102,8 +106,20 @@ typedef const struct orb_metadata *orb_id_t;
* @param _size_no_padding Struct size w/o padding at the end
* @param _message_hash 32 bit message hash over all fields
* @param _orb_id_enum ORB ID enum e.g.: ORB_ID::vehicle_status
* @param _queue_size Queue size for remote topics in communicator interface
*/
#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum) \
#ifdef CONFIG_ORB_COMMUNICATOR
#define ORB_DEFINE(_name, _struct, _size_no_padding, _fields, _orb_id_enum, _queue_size) \
const struct orb_metadata __orb_##_name = { \
#_name, \
sizeof(_struct), \
_size_no_padding, \
_fields, \
_orb_id_enum, \
_queue_size \
}; struct hack
#else
#define ORB_DEFINE(_name, _struct, _size_no_padding, _fields, _orb_id_enum, _queue_size) \
const struct orb_metadata __orb_##_name = { \
#_name, \
sizeof(_struct), \
@@ -111,6 +127,7 @@ typedef const struct orb_metadata *orb_id_t;
_message_hash, \
_orb_id_enum \
}; struct hack
#endif
__BEGIN_DECLS