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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/systemcmds/led_control/led_control.cpp
+5 -8
View File
@@ -45,9 +45,10 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>
static void usage();
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/led_control.h>
static orb_advert_t led_control_pub = nullptr;
static void usage();
extern "C" {
__EXPORT int led_control_main(int argc, char *argv[]);
@@ -57,12 +58,8 @@ static void publish_led_control(led_control_s &led_control)
{
led_control.timestamp = hrt_absolute_time();
if (led_control_pub == nullptr) {
led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, LED_UORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(led_control), led_control_pub, &led_control);
}
uORB::PublicationQueued<led_control_s> led_control_pub{ORB_ID(led_control)};
led_control_pub.publish(led_control);
}
static void run_led_test1()
src/systemcmds/motor_test/CMakeLists.txt
+1 -1
View File
@@ -36,7 +36,7 @@ px4_add_module(
STACK_MAIN 4096
COMPILE_FLAGS
SRCS
motor_test.c
motor_test.cpp
DEPENDS
)
src/systemcmds/motor_test/motor_test.c → src/systemcmds/motor_test/motor_test.cpp
+10 -28
View File
@@ -38,48 +38,30 @@
* Tool for drive testing
*/
#include <drivers/drv_hrt.h>
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_log.h>
#include <px4_module.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/test_motor.h>
__EXPORT int motor_test_main(int argc, char *argv[]);
extern "C" __EXPORT int motor_test_main(int argc, char *argv[]);
static void motor_test(unsigned channel, float value);
static void usage(const char *reason);
static orb_advert_t _test_motor_pub = NULL;
void motor_test(unsigned channel, float value)
{
struct test_motor_s _test_motor;
test_motor_s test_motor{};
test_motor.timestamp = hrt_absolute_time();
test_motor.motor_number = channel;
test_motor.value = value;
_test_motor.motor_number = channel;
_test_motor.timestamp = hrt_absolute_time();
_test_motor.value = value;
uORB::PublicationQueued<test_motor_s> test_motor_pub{ORB_ID(test_motor)};
test_motor_pub.publish(test_motor);
if (_test_motor_pub != NULL) {
/* publish test state */
orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
} else {
/* advertise and publish */
_test_motor_pub = orb_advertise_queue(ORB_ID(test_motor), &_test_motor, 4);
}
printf("motor %d set to %.2f\n", channel, (double)value);
PX4_INFO("motor %d set to %.2f", channel, (double)value);
}
static void usage(const char *reason)