- 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)
Reasons:
- DeviceMaster::_node_map does not need to be shared among instances,
because there is at most 1 instance per Flavor and different Flavors
have non-intersecting device paths.
- Keeping it static would also require a static lock
- DeviceMaster::_node_map was not locked at all when used from
uORB::Manager
So this fixes two synchronization issues:
- Different DeviceMaster objects could access the same static data in
parallel
- getDeviceNode() called from uORB::Manager did not use any locking at all
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.
If enabled, orb reads a rules file (./rootfs/orb_publisher.rules) on
startup. This can contain rules about which module is allowed to publish
which topic. It is completely transparent, so a publisher does not know
if he's not allowed to publish, and publications will look as if they
succeeded.
To test, add
#define ORB_USE_PUBLISHER_RULES
to uORBManager.hpp
- priority field uses only the lower 8 bits, so we can merge with the
update_reported flag
- orb_set_interval is not used often, so make the necessary data an
optional pointer and alloc only when needed.
Memory savings:
- pixracer (w. ekf2): 7.3kB
- pixhawk: 5.3kB
This adds two uORB API calls:
- orb_advertise_queue
- orb_advertise_multi_queue
Both add a queue_size parameter to define a maximum number of buffered
item. The existing orb calls use all a queue size of one and thus their
behavior is unchanged. If a writer publishes too fast, the oldest elements
from the queue are silently dropped.
The returned timestamp is always the one from the latest message in the
queue.
Queue size can be set via ioctl during advertisement phase. After that it
cannot be changed anymore.
This is required for the logger, we just manually add the padding bytes
what would otherwise be done by the compiler. Additionally we reorder
the fields by type, so that padding is only necessary for nested types.
in detail:
- in the write method: the following are not necessarily atomic operations:
_last_update = hrt_absolute_time();
_generation++;
- appears_updated() was called with a lock held in some cases, but not
in ioctl
- use the SmartLock class, so that unlock() is not needed before every
return call. Makes it less error prone
Beat Küng