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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
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@@ -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()