mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 01:20:34 +08:00
local_position_estimator: move to WQ and delete unused SubscriptionPollable
This commit is contained in:
Daniel Agar
@@ -48,8 +48,6 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to plat
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Subscription.hpp
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SubscriptionCallback.hpp
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SubscriptionInterval.hpp
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SubscriptionPollable.cpp
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SubscriptionPollable.hpp
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uORB.cpp
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uORB.h
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uORBCommon.hpp
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@@ -1,110 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file SubscriptionPollable.cpp
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*
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*/
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#include "SubscriptionPollable.hpp"
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#include <px4_platform_common/defines.h>
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namespace uORB
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{
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SubscriptionPollableBase::SubscriptionPollableBase(const struct orb_metadata *meta, unsigned interval,
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unsigned instance) :
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_meta(meta),
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_instance(instance)
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{
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if (instance > 0) {
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_handle = orb_subscribe_multi(_meta, instance);
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} else {
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_handle = orb_subscribe(_meta);
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}
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if (_handle < 0) {
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PX4_ERR("%s sub failed", _meta->o_name);
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}
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if (interval > 0) {
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orb_set_interval(_handle, interval);
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}
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}
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bool SubscriptionPollableBase::updated()
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{
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bool isUpdated = false;
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if (orb_check(_handle, &isUpdated) != PX4_OK) {
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PX4_ERR("%s check failed", _meta->o_name);
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}
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return isUpdated;
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}
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bool SubscriptionPollableBase::update(void *data)
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{
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bool orb_updated = false;
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if (updated()) {
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if (orb_copy(_meta, _handle, data) != PX4_OK) {
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PX4_ERR("%s copy failed", _meta->o_name);
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} else {
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orb_updated = true;
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}
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}
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return orb_updated;
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}
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SubscriptionPollableBase::~SubscriptionPollableBase()
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{
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if (orb_unsubscribe(_handle) != PX4_OK) {
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PX4_ERR("%s unsubscribe failed", _meta->o_name);
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}
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}
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SubscriptionPollableNode::SubscriptionPollableNode(const struct orb_metadata *meta, unsigned interval,
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unsigned instance,
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List<SubscriptionPollableNode *> *list)
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: SubscriptionPollableBase(meta, interval, instance)
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{
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if (list != nullptr) {
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list->add(this);
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}
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}
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} // namespace uORB
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@@ -1,197 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file SubscriptionPollable.hpp
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*
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*/
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#pragma once
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#include <uORB/uORB.h>
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#include <containers/List.hpp>
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#include <systemlib/err.h>
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#include <px4_platform_common/defines.h>
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namespace uORB
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{
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/**
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* Base subscription wrapper class, used in list traversal
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* of various subscriptions.
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*/
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class __EXPORT SubscriptionPollableBase
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{
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public:
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/**
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* Constructor
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*
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* @param meta The uORB metadata (usually from the ORB_ID()
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* macro) for the topic.
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* @param interval The minimum interval in milliseconds
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* between updates
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* @param instance The instance for multi sub.
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*/
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SubscriptionPollableBase(const struct orb_metadata *meta, unsigned interval = 0, unsigned instance = 0);
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virtual ~SubscriptionPollableBase();
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// no copy, assignment, move, move assignment
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SubscriptionPollableBase(const SubscriptionPollableBase &) = delete;
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SubscriptionPollableBase &operator=(const SubscriptionPollableBase &) = delete;
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SubscriptionPollableBase(SubscriptionPollableBase &&) = delete;
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SubscriptionPollableBase &operator=(SubscriptionPollableBase &&) = delete;
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/**
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* Check if there is a new update.
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* */
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bool updated();
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/**
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* Update the struct
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* @param data The uORB message struct we are updating.
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*/
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bool update(void *data);
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int getHandle() const { return _handle; }
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const orb_metadata *getMeta() const { return _meta; }
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unsigned getInstance() const { return _instance; }
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protected:
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const struct orb_metadata *_meta;
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unsigned _instance;
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int _handle{-1};
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};
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/**
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* alias class name so it is clear that the base class
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*/
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typedef SubscriptionPollableBase SubscriptionPollableTiny;
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/**
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* The subscription base class as a list node.
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*/
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class __EXPORT SubscriptionPollableNode : public SubscriptionPollableBase, public ListNode<SubscriptionPollableNode *>
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{
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public:
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/**
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* Constructor
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*
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* @param meta The uORB metadata (usually from the ORB_ID()
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* macro) for the topic.
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* @param interval The minimum interval in milliseconds
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* between updates
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* @param instance The instance for multi sub.
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* @param list A pointer to a list of subscriptions
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* that this should be appended to.
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*/
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SubscriptionPollableNode(const struct orb_metadata *meta, unsigned interval = 0, unsigned instance = 0,
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List<SubscriptionPollableNode *> *list = nullptr);
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virtual ~SubscriptionPollableNode() override = default;
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/**
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* This function is the callback for list traversal
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* updates, a child class must implement it.
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*/
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virtual bool update() = 0;
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/**
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* Like update(), but does not check first if there is data available
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*/
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virtual bool forcedUpdate() = 0;
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};
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/**
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* SubscriptionPollable wrapper class
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*/
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template<class T>
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class __EXPORT SubscriptionPollable : public SubscriptionPollableNode
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{
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public:
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/**
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* Constructor
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*
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* @param meta The uORB metadata (usually from
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* the ORB_ID() macro) for the topic.
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* @param interval The minimum interval in milliseconds
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* between updates
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* @param list A list interface for adding to
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* list during construction
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*/
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SubscriptionPollable(const struct orb_metadata *meta, unsigned interval = 0, unsigned instance = 0,
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List<SubscriptionPollableNode *> *list = nullptr):
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SubscriptionPollableNode(meta, interval, instance, list),
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_data() // initialize data structure to zero
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{
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forcedUpdate();
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}
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~SubscriptionPollable() override = default;
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// no copy, assignment, move, move assignment
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SubscriptionPollable(const SubscriptionPollable &) = delete;
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SubscriptionPollable &operator=(const SubscriptionPollable &) = delete;
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SubscriptionPollable(SubscriptionPollable &&) = delete;
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SubscriptionPollable &operator=(SubscriptionPollable &&) = delete;
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/**
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* Create an update function that uses the embedded struct.
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*/
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bool update() override
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{
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return SubscriptionPollableBase::update((void *)(&_data));
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}
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bool forcedUpdate() override
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{
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return orb_copy(_meta, _handle, &_data) == PX4_OK;
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}
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/*
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* This function gets the T struct data
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* */
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const T &get() const
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{
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return _data;
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}
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private:
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T _data;
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};
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} // namespace uORB
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