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move subsystem_info entirely into commander and remove from uORB

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* HealthFlags: define bitfield using 1<<X

Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Daniel Agar
2020-10-25 10:08:15 -04:00
committed by GitHub
co-authored by Matthias Grob
parent ea3d202370
commit 945c17bc3f
18 changed files with 44 additions and 92 deletions
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src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp
+2 -22
View File
@@ -359,8 +359,6 @@ void IridiumSBD::main_loop(int argc, char *argv[])
break;
}
publish_subsystem_status();
if (_new_state != _state) {
VERBOSE_INFO("SWITCHING STATE FROM %s TO %s", satcom_state_string[_state], satcom_state_string[_new_state]);
_state = _new_state;
@@ -1116,31 +1114,13 @@ void IridiumSBD::publish_iridium_status()
}
}
void IridiumSBD::publish_subsystem_status()
{
const bool present = true;
const bool enabled = true;
const bool ok = _status.last_heartbeat > 0; // maybe at some point here an additional check should be made
if ((_info.present != present) || (_info.enabled != enabled) || (_info.ok != ok)) {
_info.timestamp = hrt_absolute_time();
_info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_SATCOM;
_info.present = present;
_info.enabled = enabled;
_info.ok = ok;
_subsystem_pub.publish(_info);
}
}
int IridiumSBD::open_first(struct file *filep)
int IridiumSBD::open_first(struct file *filep)
{
_cdev_used = true;
return CDev::open_first(filep);
}
int IridiumSBD::close_last(struct file *filep)
int IridiumSBD::close_last(struct file *filep)
{
_cdev_used = false;
return CDev::close_last(filep);
src/drivers/telemetry/iridiumsbd/IridiumSBD.h
+2 -7
View File
@@ -41,7 +41,6 @@
#include <uORB/Publication.hpp>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/subsystem_info.h>
typedef enum {
SATCOM_OK = 0,
@@ -255,9 +254,7 @@ private:
*/
pollevent_t poll_state(struct file *filp);
void publish_iridium_status(void);
void publish_subsystem_status();
void publish_iridium_status();
/**
* Notification of the first open of CDev.
@@ -305,7 +302,6 @@ private:
uint16_t _packet_length = 0;
uORB::Publication<iridiumsbd_status_s> _iridiumsbd_status_pub{ORB_ID(iridiumsbd_status)};
uORB::PublicationQueued<subsystem_info_s> _subsystem_pub{ORB_ID(subsystem_info)};
bool _test_pending = false;
char _test_command[32];
@@ -342,6 +338,5 @@ private:
bool _verbose = false;
iridiumsbd_status_s _status = {};
subsystem_info_s _info = {};
iridiumsbd_status_s _status{};
};