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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/lib/systemlib/CMakeLists.txt
+1 -1
View File
@@ -35,7 +35,7 @@ set(SRCS
conversions.c
cpuload.c
crc.c
mavlink_log.c
mavlink_log.cpp
otp.c
)
src/lib/systemlib/mavlink_log.c → src/lib/systemlib/mavlink_log.cpp
+4 -15
View File
@@ -48,9 +48,6 @@
#include <uORB/topics/mavlink_log.h>
#include "mavlink_log.h"
#define MAVLINK_LOG_QUEUE_SIZE 5
__EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, const char *fmt, ...)
{
// TODO: add compile check for maxlen
@@ -59,31 +56,23 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
return;
}
if (mavlink_log_pub == NULL) {
if (mavlink_log_pub == nullptr) {
return;
}
struct mavlink_log_s log_msg;
mavlink_log_s log_msg;
log_msg.severity = severity;
log_msg.timestamp = hrt_absolute_time();
va_list ap;
va_start(ap, fmt);
vsnprintf((char *)log_msg.text, sizeof(log_msg.text), fmt, ap);
va_end(ap);
if (*mavlink_log_pub != NULL) {
if (*mavlink_log_pub != nullptr) {
orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg);
} else {
*mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log),
&log_msg,
MAVLINK_LOG_QUEUE_SIZE);
*mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), &log_msg, mavlink_log_s::ORB_QUEUE_LENGTH);
}
}