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mavlink app: Clean up allocations

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This commit is contained in:
Lorenz Meier
2014-05-16 14:00:58 +02:00
parent a72015c260
commit fbb3adde06
9 changed files with 1080 additions and 1074 deletions
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src/modules/mavlink/mavlink_orb_subscription.cpp
+5 -14
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@@ -53,30 +53,21 @@ MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
_last_check(0),
next(nullptr)
{
_data = malloc(topic->o_size);
memset(_data, 0, topic->o_size);
}
MavlinkOrbSubscription::~MavlinkOrbSubscription()
{
close(_fd);
free(_data);
}
const orb_id_t
MavlinkOrbSubscription::get_topic()
orb_id_t
MavlinkOrbSubscription::get_topic() const
{
return _topic;
}
void *
MavlinkOrbSubscription::get_data()
{
return _data;
}
bool
MavlinkOrbSubscription::update(const hrt_abstime t)
MavlinkOrbSubscription::update(const hrt_abstime t, void* data)
{
if (_last_check == t) {
/* already checked right now, return result of the check */
@@ -86,8 +77,8 @@ MavlinkOrbSubscription::update(const hrt_abstime t)
_last_check = t;
orb_check(_fd, &_updated);
if (_updated) {
orb_copy(_topic, _fd, _data);
if (_updated && data) {
orb_copy(_topic, _fd, data);
_published = true;
return true;
}