Fix an architectural issue with the ORB that prevented publication from interrupt context.

ORB topic advertisements are now global handles that can be used in any context. It is still possible to open a topic node as a publisher, but it's not the default. As a consequence, the type of the handle returned from orb_advertise has changed; all other API remains the same.
2026-10-28 07:43:34 +08:00 · 2012-08-21 23:44:22 -07:00
parent 8c22e2a092
commit 88f0080a0f
21 changed files with 110 additions and 67 deletions
@@ -125,7 +125,7 @@ private:
 	int32_t			_dT;
 	int64_t			_temp64;

-	int			_baro_topic;
+	orb_advert_t		_baro_topic;

 	unsigned		_reads;
 	unsigned		_measure_errors;