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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
2019-08-04 10:08:09 -04:00
parent 839787568c
commit e69398c09f
62 changed files with 421 additions and 674 deletions
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src/drivers/gps/gps.cpp
+8 -10
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@@ -52,6 +52,7 @@
#include <px4_cli.h>
#include <px4_getopt.h>
#include <px4_module.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/gps_dump.h>
#include <uORB/topics/gps_inject_data.h>
@@ -172,9 +173,10 @@ private:
const Instance _instance;
uORB::Subscription _orb_inject_data_sub{ORB_ID(gps_inject_data)};
orb_advert_t _dump_communication_pub{nullptr}; ///< if non-null, dump communication
uORB::PublicationQueued<gps_dump_s> _dump_communication_pub{ORB_ID(gps_dump)};
gps_dump_s *_dump_to_device{nullptr};
gps_dump_s *_dump_from_device{nullptr};
bool _should_dump_communication{false}; ///< if true, dump communication
static volatile bool _is_gps_main_advertised; ///< for the second gps we want to make sure that it gets instance 1
/// and thus we wait until the first one publishes at least one message.
@@ -549,16 +551,16 @@ void GPS::initializeCommunicationDump()
memset(_dump_to_device, 0, sizeof(gps_dump_s));
memset(_dump_from_device, 0, sizeof(gps_dump_s));
int instance;
//make sure to use a large enough queue size, so that we don't lose messages. You may also want
//to increase the logger rate for that.
_dump_communication_pub = orb_advertise_multi_queue(ORB_ID(gps_dump), _dump_from_device, &instance,
ORB_PRIO_DEFAULT, 8);
_dump_communication_pub.publish(*_dump_from_device);
_should_dump_communication = true;
}
void GPS::dumpGpsData(uint8_t *data, size_t len, bool msg_to_gps_device)
{
if (!_dump_communication_pub) {
if (!_should_dump_communication) {
return;
}
@@ -582,7 +584,7 @@ void GPS::dumpGpsData(uint8_t *data, size_t len, bool msg_to_gps_device)
}
dump_data->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(gps_dump), _dump_communication_pub, dump_data);
_dump_communication_pub.publish(*dump_data);
dump_data->len = 0;
}
}
@@ -820,10 +822,6 @@ GPS::run()
PX4_INFO("exiting");
if (_dump_communication_pub) {
orb_unadvertise(_dump_communication_pub);
}
if (_serial_fd >= 0) {
::close(_serial_fd);
_serial_fd = -1;