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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/uavcan/uavcan_servers.cpp
+2 -8
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@@ -564,20 +564,14 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
}
// Acknowledge the received command
vehicle_command_ack_s ack = {};
vehicle_command_ack_s ack{};
ack.timestamp = hrt_absolute_time();
ack.command = cmd.command;
ack.result = cmd_ack_result;
ack.target_system = cmd.source_system;
ack.target_component = cmd.source_component;
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &ack);
}
_command_ack_pub.publish(ack);
}
// Shut down once armed
src/drivers/uavcan/uavcan_servers.hpp
+4 -2
View File
@@ -36,7 +36,9 @@
#include <px4_config.h>
#include "uavcan_driver.hpp"
#include <drivers/device/device.h>
#include <perf/perf_counter.h>
#include <lib/perf/perf_counter.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/vehicle_command_ack.h>
#include <uavcan/node/sub_node.hpp>
#include <uavcan/protocol/node_status_monitor.hpp>
@@ -160,7 +162,7 @@ private:
// uORB topic handle for MAVLink parameter responses
orb_advert_t _param_response_pub = nullptr;
orb_advert_t _command_ack_pub = nullptr;
uORB::PublicationQueued<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
typedef uavcan::MethodBinder<UavcanServers *,
void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &)> GetSetCallback;