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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/px4/fmu/fmu.cpp
+2 -4
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@@ -89,7 +89,7 @@ private:
int _task;
int _t_actuators;
int _t_armed;
int _t_outputs;
orb_advert_t _t_outputs;
unsigned _num_outputs;
volatile bool _task_should_exit;
@@ -566,15 +566,13 @@ fake(int argc, char *argv[])
ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
int handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
if (handle < 0) {
puts("advertise failed");
exit(1);
}
close(handle);
exit(0);
}