mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
57df7e35b2
Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static. Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions. * Made setting of uORB topic queue size in based on topic definition only * Fixes to the ModalAI muorb implementation * Removed libfc sensor from format checks * msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h --------- Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com> Co-authored-by: Daniel Agar <daniel@agar.ca>
131 lines
3.3 KiB
C++
131 lines
3.3 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file Publication.hpp
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "rclcpp/rclcpp.hpp"
|
|
|
|
#include "uORB.h"
|
|
|
|
namespace uORB
|
|
{
|
|
|
|
/**
|
|
* uORB publication wrapper class
|
|
*/
|
|
template<typename T>
|
|
class Publication
|
|
{
|
|
public:
|
|
|
|
/**
|
|
* Constructor
|
|
*
|
|
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
|
|
*/
|
|
Publication(rclcpp::Node *node, ORB_ID id) : _node(*node), _id(id)
|
|
{
|
|
_publisher = _node.create_publisher<T>(::get_topic_string(_id), ORB_QSIZE); // TODO
|
|
}
|
|
|
|
bool advertised() { return (_publisher != nullptr); }
|
|
|
|
bool advertise()
|
|
{
|
|
if (!advertised()) {
|
|
_publisher = _node.create_publisher<T>(get_topic_string(_id), ORB_QSIZE);
|
|
}
|
|
|
|
return advertised();
|
|
}
|
|
|
|
/**
|
|
* Publish the struct
|
|
* @param data The uORB message struct we are updating.
|
|
*/
|
|
bool publish(const T &data)
|
|
{
|
|
if (!advertised()) {
|
|
advertise();
|
|
}
|
|
|
|
_publisher->publish(data);
|
|
|
|
return true;
|
|
}
|
|
|
|
private:
|
|
typename rclcpp::Publisher<T>::SharedPtr _publisher{nullptr};
|
|
|
|
rclcpp::Node &_node;
|
|
|
|
const ORB_ID _id;
|
|
};
|
|
|
|
/**
|
|
* The publication class with data embedded.
|
|
*/
|
|
template<typename T>
|
|
class PublicationData : public Publication<T>
|
|
{
|
|
public:
|
|
/**
|
|
* Constructor
|
|
*
|
|
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
|
|
*/
|
|
PublicationData(ORB_ID id) : Publication<T>(id) {}
|
|
//PublicationData(const orb_metadata *meta) : Publication<T>(meta) {}
|
|
|
|
T &get() { return _data; }
|
|
void set(const T &data) { _data = data; }
|
|
|
|
// Publishes the embedded struct.
|
|
bool update() { return Publication<T>::publish(_data); }
|
|
bool update(const T &data)
|
|
{
|
|
_data = data;
|
|
return Publication<T>::publish(_data);
|
|
}
|
|
|
|
private:
|
|
T _data{};
|
|
};
|
|
|
|
} // namespace uORB
|