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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/sensors/voted_sensors_update.cpp
+1 -6
View File
@@ -951,12 +951,7 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n
_info.enabled = true;
_info.ok = false;
if (_info_pub == nullptr) {
_info_pub = orb_advertise_queue(ORB_ID(subsystem_info), &_info, subsystem_info_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(subsystem_info), _info_pub, &_info);
}
_info_pub.publish(_info);
}
}
}
src/modules/sensors/voted_sensors_update.h
+3 -2
View File
@@ -52,6 +52,7 @@
#include <lib/ecl/validation/data_validator.h>
#include <lib/ecl/validation/data_validator_group.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_preflight.h>
#include <uORB/topics/sensor_correction.h>
@@ -274,8 +275,8 @@ private:
bool _selection_changed = false; /**< true when a sensor selection has changed and not been published */
/* subsystem info publication */
struct subsystem_info_s _info;
orb_advert_t _info_pub = nullptr;
subsystem_info_s _info{};
uORB::PublicationQueued<subsystem_info_s> _info_pub{ORB_ID(subsystem_info)};
uint32_t _accel_device_id[SENSOR_COUNT_MAX] = {}; /**< accel driver device id for each uorb instance */
uint32_t _baro_device_id[SENSOR_COUNT_MAX] = {};