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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;