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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/muorb/test/muorb_test_example.cpp
+31 -77
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@@ -43,6 +43,9 @@
#include <unistd.h>
#include <stdio.h>
#include <px4_defines.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
px4::AppState MuorbTestExample::appState;
@@ -50,7 +53,7 @@ int MuorbTestExample::main()
{
int rc;
appState.setRunning(true);
rc = PingPongTest();
rc = PingPongTest();
appState.setRunning(false);
return rc;
}
@@ -58,63 +61,37 @@ int MuorbTestExample::main()
int MuorbTestExample::DefaultTest()
{
int i = 0;
orb_advert_t pub_id = orb_advertise(ORB_ID(esc_status), & m_esc_status);
if (pub_id == nullptr) {
PX4_ERR("error publishing esc_status");
return -1;
}
orb_advert_t pub_id_vc = orb_advertise(ORB_ID(vehicle_command), & m_vc);
if (pub_id_vc == nullptr) {
PX4_ERR("error publishing vehicle_command");
return -1;
}
if (orb_publish(ORB_ID(vehicle_command), pub_id_vc, &m_vc) == PX4_ERROR) {
PX4_ERR("[%d]Error publishing the vechile command message", i);
return -1;
}
int sub_vc = orb_subscribe(ORB_ID(vehicle_command));
if (sub_vc == PX4_ERROR) {
PX4_ERR("Error subscribing to vehicle_command topic");
return -1;
}
uORB::Subscription sub_vc{ORB_ID(vehicle_command)};
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
uORB::Publication<esc_status_s> pub_id{ORB_ID(esc_status)};
pub_id.publish(m_esc_status);
while (!appState.exitRequested() && i < 100) {
PX4_DEBUG("[%d] Doing work...", i);
if (orb_publish(ORB_ID(esc_status), pub_id, &m_esc_status) == PX4_ERROR) {
if (!pub_id.publish(m_esc_status)) {
PX4_ERR("[%d]Error publishing the esc status message for iter", i);
break;
}
bool updated = false;
if (sub_vc.updated()) {
PX4_DEBUG("[%d]Vechicle Status is updated... reading new value", i);
if (orb_check(sub_vc, &updated) == 0) {
if (updated) {
PX4_DEBUG("[%d]Vechicle Status is updated... reading new value", i);
if (!sub_vc.copy(&m_vc)) {
PX4_ERR("[%d]Error calling orb copy for vechivle status... ", i);
break;
}
if (orb_copy(ORB_ID(vehicle_command), sub_vc, &m_vc) != 0) {
PX4_ERR("[%d]Error calling orb copy for vechivle status... ", i);
break;
}
if (orb_publish(ORB_ID(vehicle_command), pub_id_vc, &m_vc) == PX4_ERROR) {
PX4_ERR("[%d]Error publishing the vechile command message", i);
break;
}
} else {
PX4_DEBUG("[%d] VC topic is not updated", i);
if (!vcmd_pub.publish(m_vc)) {
PX4_ERR("[%d]Error publishing the vechile command message", i);
break;
}
} else {
PX4_ERR("[%d]Error checking the updated status for vechile command... ", i);
PX4_DEBUG("[%d] VC topic is not updated", i);
break;
}
@@ -127,51 +104,28 @@ int MuorbTestExample::DefaultTest()
int MuorbTestExample::PingPongTest()
{
int i = 0;
orb_advert_t pub_id_vc = orb_advertise(ORB_ID(vehicle_command), & m_vc);
if (pub_id_vc == nullptr) {
PX4_ERR("error publishing vehicle_command");
return -1;
}
if (orb_publish(ORB_ID(vehicle_command), pub_id_vc, &m_vc) == PX4_ERROR) {
PX4_ERR("[%d]Error publishing the vechile command message", i);
return -1;
}
int sub_esc_status = orb_subscribe(ORB_ID(esc_status));
if (sub_esc_status == PX4_ERROR) {
PX4_ERR("Error subscribing to esc_status topic");
return -1;
}
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
uORB::Subscription sub_esc_status{ORB_ID(esc_status)};
while (!appState.exitRequested()) {
PX4_INFO("[%d] Doing work...", i);
bool updated = false;
if (orb_check(sub_esc_status, &updated) == 0) {
if (updated) {
PX4_INFO("[%d]ESC status is updated... reading new value", i);
if (sub_esc_status.updated()) {
PX4_INFO("[%d]ESC status is updated... reading new value", i);
if (orb_copy(ORB_ID(esc_status), sub_esc_status, &m_esc_status) != 0) {
PX4_ERR("[%d]Error calling orb copy for esc status... ", i);
break;
}
if (!sub_esc_status.copy(&m_esc_status)) {
PX4_ERR("[%d]Error calling orb copy for esc status... ", i);
break;
}
if (orb_publish(ORB_ID(vehicle_command), pub_id_vc, &m_vc) == PX4_ERROR) {
PX4_ERR("[%d]Error publishing the vechile command message", i);
break;
}
} else {
PX4_INFO("[%d] esc status topic is not updated", i);
if (!vcmd_pub.publish(m_vc)) {
PX4_ERR("[%d]Error publishing the vechile command message", i);
break;
}
} else {
PX4_ERR("[%d]Error checking the updated status for esc status... ", i);
break;
PX4_INFO("[%d] esc status topic is not updated", i);
}
// sleep for 1 sec.