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introduce uORB::PublicationQueued and transition most orb_advertise_queue usage

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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/modules/commander/Commander.hpp
+5 -2
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@@ -45,8 +45,10 @@
// publications
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
@@ -180,7 +182,7 @@ private:
bool _flight_termination_triggered{false};
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
orb_advert_t *command_ack_pub, bool *changed);
uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub, bool *changed);
bool set_home_position();
bool set_home_position_alt_only();
@@ -258,12 +260,13 @@ private:
// Publications
uORB::Publication<vehicle_control_mode_s> _control_mode_pub{ORB_ID(vehicle_control_mode)};
uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};
uORB::Publication<vehicle_status_s> _status_pub{ORB_ID(vehicle_status)};
uORB::Publication<actuator_armed_s> _armed_pub{ORB_ID(actuator_armed)};
uORB::Publication<commander_state_s> _commander_state_pub{ORB_ID(commander_state)};
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};
};
#endif /* COMMANDER_HPP_ */