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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/navigator/navigator.h
+4 -2
View File
@@ -60,6 +60,7 @@
#include <lib/perf/perf_counter.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/home_position.h>
@@ -330,8 +331,9 @@ private:
uORB::Publication<vehicle_roi_s> _vehicle_roi_pub{ORB_ID(vehicle_roi)};
orb_advert_t _mavlink_log_pub{nullptr}; /**< the uORB advert to send messages over mavlink */
orb_advert_t _vehicle_cmd_ack_pub{nullptr};
orb_advert_t _vehicle_cmd_pub{nullptr};
uORB::PublicationQueued<vehicle_command_ack_s> _vehicle_cmd_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::PublicationQueued<vehicle_command_s> _vehicle_cmd_pub{ORB_ID(vehicle_command)};
// Subscriptions
home_position_s _home_pos{}; /**< home position for RTL */
src/modules/navigator/navigator_main.cpp
+5 -16
View File
@@ -903,7 +903,7 @@ void Navigator::fake_traffic(const char *callsign, float distance, float directi
// float vel_e = get_global_position()->vel_e;
// float vel_d = get_global_position()->vel_d;
transponder_report_s tr = {};
transponder_report_s tr{};
tr.timestamp = hrt_absolute_time();
tr.icao_address = 1234;
tr.lat = lat; // Latitude, expressed as degrees
@@ -923,8 +923,8 @@ void Navigator::fake_traffic(const char *callsign, float distance, float directi
transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; // Flags to indicate various statuses including valid data fields
tr.squawk = 6667;
orb_advert_t h = orb_advertise_queue(ORB_ID(transponder_report), &tr, transponder_report_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
uORB::PublicationQueued<transponder_report_s> tr_pub{ORB_ID(transponder_report)};
tr_pub.publish(tr);
}
void Navigator::check_traffic()
@@ -1142,12 +1142,7 @@ Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
break;
}
if (_vehicle_cmd_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command), _vehicle_cmd_pub, vcmd);
} else {
_vehicle_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
}
_vehicle_cmd_pub.publish(*vcmd);
}
void
@@ -1165,13 +1160,7 @@ Navigator::publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_t res
command_ack.result_param1 = 0;
command_ack.result_param2 = 0;
if (_vehicle_cmd_ack_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command_ack), _vehicle_cmd_ack_pub, &command_ack);
} else {
_vehicle_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
}
_vehicle_cmd_ack_pub.publish(command_ack);
}
int Navigator::print_usage(const char *reason)