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Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH

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This commit is contained in:
FengShun
2020-10-26 12:40:50 +08:00
committed by Beat Küng
parent 90c366f369
commit eac9a6b68b
46 changed files with 58 additions and 68 deletions
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src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
+1 -1
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@@ -86,7 +86,7 @@ static void arm_auth_request_msg_send()
vcmd.command = vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST;
vcmd.target_system = arm_parameters.struct_value.authorizer_system_id;
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
vcmd_pub.publish(vcmd);
}
src/modules/commander/Commander.cpp
+5 -5
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@@ -115,7 +115,7 @@ static struct vehicle_status_flags_s status_flags = {};
void *commander_low_prio_loop(void *arg);
static void answer_command(const vehicle_command_s &cmd, unsigned result,
uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub);
uORB::Publication<vehicle_command_ack_s> &command_ack_pub);
#if defined(BOARD_HAS_POWER_CONTROL)
static orb_advert_t power_button_state_pub = nullptr;
@@ -184,7 +184,7 @@ static bool send_vehicle_command(uint16_t cmd, float param1 = NAN, float param2
vcmd.timestamp = hrt_absolute_time();
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
return vcmd_pub.publish(vcmd);
}
@@ -532,7 +532,7 @@ Commander::Commander() :
bool
Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_s &cmd, actuator_armed_s *armed_local,
uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub)
uORB::Publication<vehicle_command_ack_s> &command_ack_pub)
{
/* only handle commands that are meant to be handled by this system and component */
if (cmd.target_system != status_local->system_id || ((cmd.target_component != status_local->component_id)
@@ -3377,7 +3377,7 @@ Commander::print_reject_arm(const char *msg)
}
void answer_command(const vehicle_command_s &cmd, unsigned result,
uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub)
uORB::Publication<vehicle_command_ack_s> &command_ack_pub)
{
switch (result) {
case vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED:
@@ -3425,7 +3425,7 @@ void *commander_low_prio_loop(void *arg)
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
/* command ack */
uORB::PublicationQueued<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
/* wakeup source(s) */
px4_pollfd_struct_t fds[1];
src/modules/commander/Commander.hpp
+2 -2
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@@ -140,7 +140,7 @@ private:
void estimator_check(const vehicle_status_flags_s &status_flags);
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub);
uORB::Publication<vehicle_command_ack_s> &command_ack_pub);
unsigned handle_command_motor_test(const vehicle_command_s &cmd);
@@ -420,7 +420,7 @@ private:
uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};
uORB::PublicationQueued<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
};
src/modules/commander/calibration_routines.cpp
+1 -1
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@@ -614,7 +614,7 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, const hrt_abstime &ca
command_ack.target_component = cmd.source_component;
command_ack.timestamp = hrt_absolute_time();
uORB::PublicationQueued<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
command_ack_pub.publish(command_ack);
return ret;
src/modules/events/rc_loss_alarm.h
+1 -1
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@@ -65,7 +65,7 @@ private:
/** Publish tune control to interrupt any sound */
void stop_tune();
uORB::PublicationQueued<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
uORB::Publication<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
bool _was_armed = false;
src/modules/events/send_event.cpp
+1 -1
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@@ -126,7 +126,7 @@ void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
command_ack.target_system = cmd.source_system;
command_ack.target_component = cmd.source_component;
uORB::PublicationQueued<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
command_ack_pub.publish(command_ack);
}
src/modules/events/status_display.h
+1 -1
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@@ -97,7 +97,7 @@ private:
int _old_nav_state = -1;
int _old_battery_status_warning = -1;
uORB::PublicationQueued<led_control_s> _led_control_pub{ORB_ID(led_control)};
uORB::Publication<led_control_s> _led_control_pub{ORB_ID(led_control)};
};
src/modules/load_mon/LoadMon.hpp
+1 -1
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@@ -87,7 +87,7 @@ private:
int _stack_task_index{0};
uORB::PublicationQueued<task_stack_info_s> _task_stack_info_pub{ORB_ID(task_stack_info)};
uORB::Publication<task_stack_info_s> _task_stack_info_pub{ORB_ID(task_stack_info)};
#endif
uORB::Publication<cpuload_s> _cpuload_pub {ORB_ID(cpuload)};
src/modules/logger/log_writer_mavlink.h
+1 -1
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@@ -77,7 +77,7 @@ private:
int publish_message();
ulog_stream_s _ulog_stream_data{};
uORB::PublicationQueued<ulog_stream_s> _ulog_stream_pub{ORB_ID(ulog_stream)};
uORB::Publication<ulog_stream_s> _ulog_stream_pub{ORB_ID(ulog_stream)};
int _ulog_stream_ack_sub{-1};
bool _need_reliable_transfer{false};
bool _is_started{false};
src/modules/logger/logger.cpp
+1 -1
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@@ -1971,7 +1971,7 @@ void Logger::ack_vehicle_command(vehicle_command_s *cmd, uint32_t result)
vehicle_command_ack.target_system = cmd->source_system;
vehicle_command_ack.target_component = cmd->source_component;
uORB::PublicationQueued<vehicle_command_ack_s> cmd_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> cmd_ack_pub{ORB_ID(vehicle_command_ack)};
cmd_ack_pub.publish(vehicle_command_ack);
}
src/modules/mavlink/mavlink_main.cpp
+1 -1
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@@ -2149,7 +2149,7 @@ Mavlink::task_main(int argc, char *argv[])
uORB::Subscription ack_sub{ORB_ID(vehicle_command_ack)};
/* command ack */
uORB::PublicationQueued<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Subscription mavlink_log_sub{ORB_ID(mavlink_log)};
src/modules/mavlink/mavlink_parameters.h
+1 -1
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@@ -128,7 +128,7 @@ protected:
uORB::Publication<rc_parameter_map_s> _rc_param_map_pub{ORB_ID(rc_parameter_map)};
rc_parameter_map_s _rc_param_map{};
uORB::PublicationQueued<uavcan_parameter_request_s> _uavcan_parameter_request_pub{ORB_ID(uavcan_parameter_request)};
uORB::Publication<uavcan_parameter_request_s> _uavcan_parameter_request_pub{ORB_ID(uavcan_parameter_request)};
// enforce ORB_ID(uavcan_parameter_request) constants that map to MAVLINK defines
static_assert(uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_READ == MAVLINK_MSG_ID_PARAM_REQUEST_READ,
"uavcan_parameter_request_s MAVLINK_MSG_ID_PARAM_REQUEST_READ constant mismatch");
src/modules/mavlink/mavlink_receiver.h
+4 -4
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@@ -283,10 +283,10 @@ private:
uORB::PublicationMulti<radio_status_s> _radio_status_pub{ORB_ID(radio_status)};
// ORB publications (queue length > 1)
uORB::PublicationQueued<gps_inject_data_s> _gps_inject_data_pub{ORB_ID(gps_inject_data)};
uORB::PublicationQueued<transponder_report_s> _transponder_report_pub{ORB_ID(transponder_report)};
uORB::PublicationQueued<vehicle_command_ack_s> _cmd_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::PublicationQueued<vehicle_command_s> _cmd_pub{ORB_ID(vehicle_command)};
uORB::Publication<gps_inject_data_s> _gps_inject_data_pub{ORB_ID(gps_inject_data)};
uORB::Publication<transponder_report_s> _transponder_report_pub{ORB_ID(transponder_report)};
uORB::Publication<vehicle_command_ack_s> _cmd_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_s> _cmd_pub{ORB_ID(vehicle_command)};
// ORB subscriptions
uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
src/modules/mavlink/tune_publisher.h
+1 -1
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@@ -51,5 +51,5 @@ private:
char _tune_buffer[MAX_TUNE_LEN] {0};
hrt_abstime _next_publish_time {0};
uORB::PublicationQueued<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
uORB::Publication<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
};
src/modules/mc_pos_control/MulticopterPositionControl.hpp
+1 -1
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@@ -101,7 +101,7 @@ private:
Takeoff _takeoff; /**< state machine and ramp to bring the vehicle off the ground without jumps */
uORB::Publication<vehicle_attitude_setpoint_s> _vehicle_attitude_setpoint_pub;
uORB::PublicationQueued<vehicle_command_s> _pub_vehicle_command{ORB_ID(vehicle_command)}; /**< vehicle command publication */
uORB::Publication<vehicle_command_s> _pub_vehicle_command{ORB_ID(vehicle_command)}; /**< vehicle command publication */
orb_advert_t _mavlink_log_pub{nullptr};
uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
src/modules/muorb/test/muorb_test_example.cpp
+2 -2
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@@ -62,7 +62,7 @@ int MuorbTestExample::DefaultTest()
int i = 0;
uORB::Subscription sub_vc{ORB_ID(vehicle_command)};
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
uORB::Publication<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);
@@ -103,7 +103,7 @@ int MuorbTestExample::DefaultTest()
int MuorbTestExample::PingPongTest()
{
int i = 0;
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
uORB::Subscription sub_esc_status{ORB_ID(esc_status)};
while (!appState.exitRequested()) {
src/modules/navigator/navigator.h
+2 -2
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@@ -343,8 +343,8 @@ private:
orb_advert_t _mavlink_log_pub{nullptr}; /**< the uORB advert to send messages over mavlink */
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)};
uORB::Publication<vehicle_command_ack_s> _vehicle_cmd_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<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
+1 -1
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@@ -1006,7 +1006,7 @@ void Navigator::fake_traffic(const char *callsign, float distance, float directi
#endif /* BOARD_HAS_NO_UUID */
uORB::PublicationQueued<transponder_report_s> tr_pub{ORB_ID(transponder_report)};
uORB::Publication<transponder_report_s> tr_pub{ORB_ID(transponder_report)};
tr_pub.publish(tr);
}
src/modules/simulator/simulator.h
+1 -1
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@@ -188,7 +188,7 @@ private:
uORB::Publication<vehicle_odometry_s> _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
uORB::Publication<vehicle_odometry_s> _mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)};
uORB::PublicationQueued<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::PublicationMulti<distance_sensor_s> *_dist_pubs[RANGE_FINDER_MAX_SENSORS] {};
uint8_t _dist_sensor_ids[RANGE_FINDER_MAX_SENSORS] {};
src/modules/temperature_compensation/TemperatureCompensationModule.cpp
+2 -2
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@@ -225,7 +225,7 @@ void TemperatureCompensationModule::Run()
command_ack.target_system = cmd.source_system;
command_ack.target_component = cmd.source_component;
uORB::PublicationQueued<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
command_ack_pub.publish(command_ack);
}
}
@@ -344,7 +344,7 @@ int TemperatureCompensationModule::custom_command(int argc, char *argv[])
|| calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN);
vcmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
vcmd_pub.publish(vcmd);
return PX4_OK;
src/modules/temperature_compensation/temperature_calibration/task.cpp
+1 -1
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@@ -87,7 +87,7 @@ public:
private:
void publish_led_control(led_control_s &led_control);
uORB::PublicationQueued<led_control_s> _led_control_pub{ORB_ID(led_control)};
uORB::Publication<led_control_s> _led_control_pub{ORB_ID(led_control)};
bool _force_task_exit = false;
int _control_task = -1; // task handle for task
src/modules/uORB/Publication.hpp
-6
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@@ -163,10 +163,4 @@ private:
T _data{};
};
template<class T>
using PublicationQueued = Publication<T, T::ORB_QUEUE_LENGTH>;
} // namespace uORB
src/modules/uORB/PublicationMulti.hpp
-4
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@@ -122,8 +122,4 @@ private:
T _data{};
};
template<class T>
using PublicationQueuedMulti = PublicationMulti<T, T::ORB_QUEUE_LENGTH>;
} // namespace uORB
src/modules/vmount/input_mavlink.cpp
+1 -1
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@@ -369,7 +369,7 @@ void InputMavlinkCmdMount::_ack_vehicle_command(vehicle_command_s *cmd)
vehicle_command_ack.target_system = cmd->source_system;
vehicle_command_ack.target_component = cmd->source_component;
uORB::PublicationQueued<vehicle_command_ack_s> cmd_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> cmd_ack_pub{ORB_ID(vehicle_command_ack)};
cmd_ack_pub.publish(vehicle_command_ack);
}
src/modules/vmount/output_mavlink.h
+1 -1
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@@ -62,7 +62,7 @@ public:
private:
uORB::PublicationQueued<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
};
src/modules/vtol_att_control/vtol_att_control_main.cpp
+1 -1
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@@ -183,7 +183,7 @@ VtolAttitudeControl::handle_command()
command_ack.target_system = _vehicle_cmd.source_system;
command_ack.target_component = _vehicle_cmd.source_component;
uORB::PublicationQueued<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
command_ack_pub.publish(command_ack);
}
}