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uavcan_v1: Don't re-subscribe to fixed port ID subscribers

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This commit is contained in:
JacobCrabill 2021-06-30 10:31:23 -07:00 committed by Daniel Agar
parent a99b657f03
commit ab46b8026c
2 changed files with 8 additions and 1 deletions
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7
src/drivers/uavcan_v1/SubscriptionManager.cpp
View File

@ -60,6 +60,11 @@ void SubscriptionManager::subscribe()
_getinfo_rsp.subscribe();
_access_rsp.subscribe();
updateDynamicSubscriptions();
}
void SubscriptionManager::updateDynamicSubscriptions()
{
for (auto &sub : _uavcan_subs) {
if (sub.instance == NULL) {
param_t param_handle = param_find(sub.px4_name);
@ -124,5 +129,5 @@ void SubscriptionManager::updateParams()
}
// Check for any newly-enabled subscriptions
subscribe();
updateDynamicSubscriptions();
}

2
src/drivers/uavcan_v1/SubscriptionManager.hpp
View File

@ -74,6 +74,8 @@ public:
void updateParams();
private:
void updateDynamicSubscriptions();
CanardInstance &_canard_instance;
UavcanParamManager &_param_manager;
UavcanDynamicPortSubscriber *_dynsubscribers {NULL};