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Fix ranger multi-advertise

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This commit is contained in:
Kabir Mohammed
2015-10-28 22:38:38 +01:00
committed by Lorenz Meier
parent bc874ddbe5
commit 832780b966
6 changed files with 41 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/ll40ls/LidarLiteI2C.cpp
+8 -10
View File
@@ -126,17 +126,15 @@ int LidarLiteI2C::init()
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report;
measure();
_reports->get(&ds_report);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report;
measure();
_reports->get(&ds_report);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) {
DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
}
if (_distance_sensor_topic == nullptr) {
DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
}
ret = OK;
src/drivers/ll40ls/LidarLitePWM.cpp
+9 -11
View File
@@ -108,19 +108,17 @@ int LidarLitePWM::init()
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the distance_sensor topic */
struct distance_sensor_s ds_report;
measure();
_reports->get(&ds_report);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
/* get a publish handle on the distance_sensor topic */
struct distance_sensor_s ds_report;
measure();
_reports->get(&ds_report);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) {
DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
}
if (_distance_sensor_topic == nullptr) {
DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
}
return OK;
}
src/drivers/mb12xx/mb12xx.cpp
+6 -8
View File
@@ -270,16 +270,14 @@ MB12XX::init()
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report = {};
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report;
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
// XXX we should find out why we need to wait 200 ms here
src/drivers/px4flow/px4flow.cpp
+6 -8
View File
@@ -241,16 +241,14 @@ PX4FLOW::init()
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report = {};
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report;
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_HIGH);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_HIGH);
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
ret = OK;
src/drivers/sf0x/sf0x.cpp
+6 -8
View File
@@ -296,16 +296,14 @@ SF0X::init()
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report = {};
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report;
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_HIGH);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_HIGH);
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
} while (0);
src/drivers/srf02/srf02.cpp
+6 -8
View File
@@ -269,16 +269,14 @@ SRF02::init()
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report = {};
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report;
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
// XXX we should find out why we need to wait 200 ms here