- ulog file message rate limited to 50Hz
- queuing with size 2
- this replaces the mavlink log message in the ulog
(but the mavlink warnings & errors still go to the ulog)
This has the following benefits:
- Manager can ensure that there is at most one instance of DeviceMaster
per Flavor
- The Manager needs access to (static) data of DeviceMaster already.
This will make it easier to access this data in a non-static way, and
does not introduce new dependencies.
This fixes a race condition: uORB::Manager::get_instance() is used in a
multi-thread context, but the singleton initialization was not thread-safe.
Further, this avoids having to check for nullptr every time the singleton
is accessed.
uORB::Manager::initialize() is called when uorb is started. No one else
accesses the singleton before that point, because it is only used in the
orb_* methods, and in muorb. Both require uorb to be started already when
they are used.
This fixes a subtle bug: the instance parameter of orb_advertise is an output
parameter and thus its value can be random. However in node_open this value
is accessed and thus the open(...) call could succeed even though it should
not. This can happen for example if a second advertiser of a topic calls
orb_advertise_multi with *instance=0.
The existing implementation worked only because *instance was initialized
with -1 in most cases.
This adds support for a dynamic build for QuRT and initial
Multi-uORB changes to enable communication between the DSP and
the application processor.
This part of the changes do not affect the POSIX build. This is
enablement for the QuRT build using Multi-uORB. The second part
of the changes will be added in a new module under src/modules.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The latency_test used to pass an object pointer as argv which
won't work in the posix port because it expects argv to be a
null terminated array of character pointers (which it makes a
copy of).
The test was refactored to use a singleton pattern and avoid
having to pass the object pointer to the thread.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
uORB was refactored in order to support the MuORB changes required
for QURT. Those changes wil be added in a subsequent commit.
The files are split out by posix and nuttx so the changes are visible.
When this has been tested, the files can be re-merged and re-tested.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Daniel Agar