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

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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.
This commit is contained in:
px4dev
2012-08-21 23:44:22 -07:00
parent 8c22e2a092
commit 88f0080a0f
21 changed files with 110 additions and 67 deletions
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apps/examples/px4_simple_app/px4_simple_app.c
+2 -2
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@@ -59,7 +59,7 @@ int px4_simple_app_main(int argc, char *argv[])
/* advertise attitude topic */
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
int att_pub_fd = orb_advertise(ORB_ID(vehicle_attitude), &att);
orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
/* one could wait for multiple topics with this technique, just using one here */
struct pollfd fds[] = {
@@ -103,7 +103,7 @@ int px4_simple_app_main(int argc, char *argv[])
att.roll = raw.accelerometer_m_s2[0];
att.pitch = raw.accelerometer_m_s2[1];
att.yaw = raw.accelerometer_m_s2[2];
orb_publish(ORB_ID(vehicle_attitude), att_pub_fd, &att);
orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
}
/* there could be more file descriptors here, in the form like:
* if (fds[1..n].revents & POLLIN) {}