mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 02:23:34 +08:00
Daniel Agar
2410b31662
I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc. Later this mechanism will be used in a few areas - rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data - move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated - integrate raw gyro synchronized with optical flow measurements
102 lines
2.9 KiB
C++
102 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 PublicationQueuedMulti.hpp
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*
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*/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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namespace uORB
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{
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/**
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* Queued publication with queue length set as a message constant (ORB_QUEUE_LENGTH)
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*/
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template<typename T>
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class PublicationQueuedMulti
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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() macro) for the topic.
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*/
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PublicationQueuedMulti(const orb_metadata *meta, uint8_t priority = ORB_PRIO_DEFAULT) :
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_meta(meta),
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_priority(priority)
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{}
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~PublicationQueuedMulti()
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{
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//orb_unadvertise(_handle);
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}
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/**
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* Publish the struct
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* @param data The uORB message struct we are updating.
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*/
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bool publish(const T &data)
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{
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if (_handle != nullptr) {
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return (orb_publish(_meta, _handle, &data) == PX4_OK);
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} else {
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int instance = 0;
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orb_advert_t handle = orb_advertise_multi_queue(_meta, &data, &instance, _priority, T::ORB_QUEUE_LENGTH);
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if (handle != nullptr) {
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_handle = handle;
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return true;
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}
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}
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return false;
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}
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protected:
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const orb_metadata *_meta;
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orb_advert_t _handle{nullptr};
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const uint8_t _priority;
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};
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} // namespace uORB
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