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manual_control: add instance to selector

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This instance is then used to schedule the callback for the
subscription.
This commit is contained in:
Julian Oes
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent 14eb656a59
commit 8876af9150
5 changed files with 42 additions and 25 deletions
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src/modules/manual_control/ManualControlSelector.hpp
+3 -1
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@@ -45,8 +45,9 @@ public:
void set_rc_in_mode(int32_t rc_in_mode) { _rc_in_mode = rc_in_mode; }
void set_timeout(uint64_t timeout) { _timeout = timeout; }
void update_time_only(uint64_t now);
void update_manual_control_input(uint64_t now, const manual_control_input_s &input);
void update_manual_control_input(uint64_t now, const manual_control_input_s &input, int instance);
manual_control_setpoint_s &setpoint();
int instance() const { return _instance; };
private:
manual_control_setpoint_s setpoint_from_input(const manual_control_input_s &input);
@@ -54,6 +55,7 @@ private:
manual_control_setpoint_s _setpoint {};
uint64_t _timeout {0};
int32_t _rc_in_mode {0};
int _instance {-1};
};
} // namespace manual_control