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introduce uORB::PublicationQueued and transition most orb_advertise_queue usage

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This commit is contained in:
Daniel Agar
2019-07-03 16:30:21 -04:00
parent 839787568c
commit e69398c09f
62 changed files with 421 additions and 674 deletions
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src/drivers/camera_trigger/camera_trigger.cpp
+10 -13
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@@ -55,6 +55,7 @@
#include <parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/camera_capture.h>
@@ -174,7 +175,8 @@ private:
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
orb_advert_t _trigger_pub;
orb_advert_t _cmd_ack_pub;
uORB::PublicationQueued<vehicle_command_ack_s> _cmd_ack_pub{ORB_ID(vehicle_command_ack)};
param_t _p_mode;
param_t _p_activation_time;
@@ -192,7 +194,7 @@ private:
/**
* Vehicle command handler
*/
void Run();
void Run() override;
/**
* Fires trigger
@@ -250,7 +252,6 @@ CameraTrigger::CameraTrigger() :
_last_shoot_position(0.0f, 0.0f),
_valid_position(false),
_trigger_pub(nullptr),
_cmd_ack_pub(nullptr),
_trigger_mode(TRIGGER_MODE_NONE),
_cam_cap_fback(0),
_camera_interface_mode(CAMERA_INTERFACE_MODE_GPIO),
@@ -477,12 +478,13 @@ CameraTrigger::stop()
void
CameraTrigger::test()
{
vehicle_command_s vcmd = {};
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
vcmd.param5 = 1.0;
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
vcmd_pub.publish(vcmd);
}
void
@@ -682,20 +684,15 @@ CameraTrigger::Run()
// Command ACK handling
if (updated && need_ack) {
vehicle_command_ack_s command_ack = {};
vehicle_command_ack_s command_ack{};
command_ack.timestamp = hrt_absolute_time();
command_ack.command = cmd.command;
command_ack.result = (uint8_t)cmd_result;
command_ack.target_system = cmd.source_system;
command_ack.target_component = cmd.source_component;
if (_cmd_ack_pub == nullptr) {
_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command_ack), _cmd_ack_pub, &command_ack);
}
_cmd_ack_pub.publish(command_ack);
}
ScheduleDelayed(poll_interval_usec);