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logger: create _vehicle_status_sub & _parameter_update_sub on stack

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Since it's only used in run().
This commit is contained in:
Beat Küng
2016-05-09 09:47:35 +02:00
committed by Lorenz Meier
parent 4f0573d612
commit d7f0808316
2 changed files with 9 additions and 23 deletions
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src/modules/logger/logger.cpp
+9 -21
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@@ -143,7 +143,7 @@ int Logger::start(char *const *argv)
logger_task = px4_task_spawn_cmd("logger",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
3100,
3200,
(px4_main_t)&Logger::run_trampoline,
(char *const *)argv);
@@ -431,17 +431,8 @@ void Logger::run()
return;
}
if (!(_vehicle_status_sub = new uORB::Subscription<vehicle_status_s>(ORB_ID(vehicle_status)))) {
PX4_ERR("Failed to allocate subscription");
return;
}
if (!(_parameter_update_sub = new uORB::Subscription<parameter_update_s>(ORB_ID(parameter_update)))) {
delete _vehicle_status_sub;
_vehicle_status_sub = nullptr;
PX4_ERR("Failed to allocate subscription");
return;
}
uORB::Subscription<vehicle_status_s> vehicle_status_sub(ORB_ID(vehicle_status));
uORB::Subscription<parameter_update_s> parameter_update_sub(ORB_ID(parameter_update));
add_topic("sensor_gyro", 0);
@@ -495,10 +486,10 @@ void Logger::run()
while (!_task_should_exit) {
// Start/stop logging when system arm/disarm
if (_vehicle_status_sub->check_updated()) {
_vehicle_status_sub->update();
bool armed = (_vehicle_status_sub->get().arming_state == vehicle_status_s::ARMING_STATE_ARMED) ||
(_vehicle_status_sub->get().arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
if (vehicle_status_sub.check_updated()) {
vehicle_status_sub.update();
bool armed = (vehicle_status_sub.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED) ||
(vehicle_status_sub.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
if (_enabled != armed && !_log_on_start) {
if (armed) {
@@ -521,9 +512,9 @@ void Logger::run()
/* Check if parameters have changed */
// this needs to change to a timestamped record to record a history of parameter changes
if (_parameter_update_sub->check_updated()) {
if (parameter_update_sub.check_updated()) {
warnx("parameter update");
_parameter_update_sub->update();
parameter_update_sub.update();
write_changed_parameters();
}
@@ -624,9 +615,6 @@ void Logger::run()
usleep(_log_interval);
}
delete _vehicle_status_sub;
delete _parameter_update_sub;
// stop the writer thread
_writer.thread_stop();