fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-01 13:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors/vehicle_gps_position: only register callbacks once topic published

Browse Source 
- this avoids creating unnecessary uORB device nodes for GPS instances that might never exist
This commit is contained in:
Daniel Agar
2020-10-27 14:30:44 -04:00
parent df2f26ebdf
commit 91da194bd7
2 changed files with 25 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uORB/SubscriptionCallback.hpp
+16 -12
View File
@@ -68,22 +68,24 @@ public:
bool registerCallback()
{
if (_subscription.get_node() && _subscription.get_node()->register_callback(this)) {
// registered
_registered = true;
if (!_registered) {
if (_subscription.get_node() && _subscription.get_node()->register_callback(this)) {
// registered
_registered = true;
} else {
// force topic creation by subscribing with old API
int fd = orb_subscribe_multi(_subscription.get_topic(), _subscription.get_instance());
} else {
// force topic creation by subscribing with old API
int fd = orb_subscribe_multi(_subscription.get_topic(), _subscription.get_instance());
// try to register callback again
if (_subscription.subscribe()) {
if (_subscription.get_node() && _subscription.get_node()->register_callback(this)) {
_registered = true;
// try to register callback again
if (_subscription.subscribe()) {
if (_subscription.get_node() && _subscription.get_node()->register_callback(this)) {
_registered = true;
}
}
}
orb_unsubscribe(fd);
orb_unsubscribe(fd);
}
}
return _registered;
@@ -131,6 +133,8 @@ public:
virtual void call() = 0;
bool registered() const { return _registered; }
protected:
bool _registered{false};