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uORB cleanup Subscription/Publication c++

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This commit is contained in:
Daniel Agar
2017-08-17 09:40:35 -04:00
committed by Lorenz Meier
parent 7223780563
commit e63da5860e
6 changed files with 139 additions and 172 deletions
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src/modules/uORB/Subscription.cpp
+35 -19
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -42,51 +42,67 @@
namespace uORB
{
SubscriptionBase::SubscriptionBase(const struct orb_metadata *meta,
unsigned interval, unsigned instance) :
SubscriptionBase::SubscriptionBase(const struct orb_metadata *meta, unsigned interval, unsigned instance) :
_meta(meta),
_instance(instance),
_handle()
_instance(instance)
{
if (_instance > 0) {
_handle = orb_subscribe_multi(
getMeta(), instance);
if (instance > 0) {
_handle = orb_subscribe_multi(_meta, instance);
} else {
_handle = orb_subscribe(getMeta());
_handle = orb_subscribe(_meta);
}
if (_handle < 0) { PX4_ERR("sub failed"); }
if (_handle < 0) {
PX4_ERR("%s sub failed", _meta->o_name);
}
if (interval > 0) {
orb_set_interval(getHandle(), interval);
orb_set_interval(_handle, interval);
}
}
bool SubscriptionBase::updated()
{
bool isUpdated = false;
int ret = orb_check(_handle, &isUpdated);
if (ret != PX4_OK) { PX4_ERR("orb check failed"); }
if (orb_check(_handle, &isUpdated) != PX4_OK) {
PX4_ERR("%s check failed", _meta->o_name);
}
return isUpdated;
}
void SubscriptionBase::update(void *data)
bool SubscriptionBase::update(void *data)
{
if (updated()) {
int ret = orb_copy(_meta, _handle, data);
bool orb_updated = false;
if (ret != PX4_OK) { PX4_ERR("orb copy failed"); }
if (updated()) {
if (orb_copy(_meta, _handle, data) != PX4_OK) {
PX4_ERR("%s copy failed", _meta->o_name);
} else {
orb_updated = true;
}
}
return orb_updated;
}
SubscriptionBase::~SubscriptionBase()
{
int ret = orb_unsubscribe(_handle);
if (orb_unsubscribe(_handle) != PX4_OK) {
PX4_ERR("%s unsubscribe failed", _meta->o_name);
}
}
if (ret != PX4_OK) { PX4_ERR("orb unsubscribe failed"); }
SubscriptionNode::SubscriptionNode(const struct orb_metadata *meta, unsigned interval, unsigned instance,
List<SubscriptionNode *> *list)
: SubscriptionBase(meta, interval, instance)
{
if (list != nullptr) {
list->add(this);
}
}
} // namespace uORB