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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/gps/mtk.c
+1 -1
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@@ -311,7 +311,7 @@ void *mtk_loop(void *arg)
/* advertise GPS topic */
struct vehicle_gps_position_s mtk_gps_d;
mtk_gps = &mtk_gps_d;
int gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), &mtk_gps);
orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), &mtk_gps);
while (1) {
/* Parse a message from the gps receiver */
apps/gps/nmea_helper.c
+1 -1
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@@ -176,7 +176,7 @@ void *nmea_loop(void *arg)
/* advertise GPS topic */
struct vehicle_gps_position_s nmea_gps_d = {0};
nmea_gps = &nmea_gps_d;
int gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
while (1) {
/* Parse a message from the gps receiver */
apps/gps/ubx.c
+1 -1
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@@ -842,7 +842,7 @@ void *ubx_loop(void *arg)
ubx_gps = &ubx_gps_d;
int gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps);
orb_advert_t gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps);
while (1) {
/* Parse a message from the gps receiver */