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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/modules/mavlink/mavlink_parameters.cpp
+3 -25
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@@ -50,13 +50,6 @@ MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) :
{
}
MavlinkParametersManager::~MavlinkParametersManager()
{
if (_uavcan_parameter_request_pub) {
orb_unadvertise(_uavcan_parameter_request_pub);
}
}
unsigned
MavlinkParametersManager::get_size()
{
@@ -91,12 +84,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
req.node_id = req_list.target_component;
req.param_index = 0;
if (_uavcan_parameter_request_pub == nullptr) {
_uavcan_parameter_request_pub = orb_advertise(ORB_ID(uavcan_parameter_request), &req);
} else {
orb_publish(ORB_ID(uavcan_parameter_request), _uavcan_parameter_request_pub, &req);
}
_uavcan_parameter_request_pub.publish(req);
}
break;
@@ -163,12 +151,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
req.int_value = val;
}
if (_uavcan_parameter_request_pub == nullptr) {
_uavcan_parameter_request_pub = orb_advertise(ORB_ID(uavcan_parameter_request), &req);
} else {
orb_publish(ORB_ID(uavcan_parameter_request), _uavcan_parameter_request_pub, &req);
}
_uavcan_parameter_request_pub.publish(req);
}
break;
@@ -577,12 +560,7 @@ void MavlinkParametersManager::request_next_uavcan_parameter()
if (!_uavcan_waiting_for_request_response && _uavcan_open_request_list != nullptr) {
uavcan_parameter_request_s req = _uavcan_open_request_list->req;
if (_uavcan_parameter_request_pub == nullptr) {
_uavcan_parameter_request_pub = orb_advertise_queue(ORB_ID(uavcan_parameter_request), &req, 5);
} else {
orb_publish(ORB_ID(uavcan_parameter_request), _uavcan_parameter_request_pub, &req);
}
_uavcan_parameter_request_pub.publish(req);
_uavcan_waiting_for_request_response = true;
}