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uavcan: remove actuator_direct (no publisher)

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This commit is contained in:
Beat Küng
2019-10-11 14:41:58 +02:00
parent 06f20ad892
commit 0db0981b1b
7 changed files with 6 additions and 47 deletions
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msg/CMakeLists.txt
-1
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@@ -34,7 +34,6 @@
set(msg_files
actuator_armed.msg
actuator_controls.msg
actuator_direct.msg
actuator_outputs.msg
adc_report.msg
airspeed.msg
msg/actuator_direct.msg
-4
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@@ -1,4 +0,0 @@
uint64 timestamp # time since system start (microseconds)
uint8 NUM_ACTUATORS_DIRECT = 16
uint32 nvalues # number of valid values
float32[16] values # actuator values, from -1 to 1
msg/tools/uorb_rtps_message_ids.yaml
-2
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@@ -3,8 +3,6 @@ rtps:
id: 0
- msg: actuator_controls
id: 1
- msg: actuator_direct
id: 2
- msg: actuator_outputs
id: 3
- msg: adc_report
src/drivers/uavcan/uavcan_main.cpp
-29
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@@ -139,8 +139,6 @@ UavcanNode::~UavcanNode()
} while (_task != -1);
}
(void)orb_unsubscribe(_actuator_direct_sub);
// Removing the sensor bridges
_sensor_bridges.clear();
@@ -763,8 +761,6 @@ UavcanNode::run()
// XXX figure out the output count
_output_count = 2;
_actuator_direct_sub = orb_subscribe(ORB_ID(actuator_direct));
actuator_outputs_s outputs{};
// Set up the time synchronization
@@ -808,14 +804,6 @@ UavcanNode::run()
*/
add_poll_fd(busevent_fd);
/*
* setup poll to look for actuator direct input if we are
* subscribed to the topic
*/
if (_actuator_direct_sub != -1) {
_actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub);
}
update_params();
while (!_task_should_exit) {
@@ -886,23 +874,6 @@ UavcanNode::run()
}
}
// see if we have any direct actuator updates
actuator_direct_s actuator_direct{};
if (_actuator_direct_sub != -1 &&
(_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) &&
orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &actuator_direct) == OK &&
!_test_in_progress) {
if (actuator_direct.nvalues > actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
actuator_direct.nvalues = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
}
memcpy(&outputs.output[0], &actuator_direct.values[0], actuator_direct.nvalues * sizeof(float));
outputs.noutputs = actuator_direct.nvalues;
new_output = true;
}
// can we mix?
if (_test_in_progress) {
src/drivers/uavcan/uavcan_main.hpp
+2 -7
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@@ -65,15 +65,14 @@
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_direct.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/test_motor.h>
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 4
// we add two to allow for actuator_direct and busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
// we add 1 to allow for busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+1)
/**
* A UAVCAN node.
@@ -204,10 +203,6 @@ private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _test_motor_sub{ORB_ID(test_motor)};
int _actuator_direct_sub{-1}; ///< uORB subscription of the actuator_direct topic
uint8_t _actuator_direct_poll_fd_num{0};
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;
perf_counter_t _control_latency_perf;
src/drivers/uavcanesc/uavcanesc_main.hpp
+2 -2
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@@ -48,8 +48,8 @@
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 1
#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
// we add two to allow for actuator_direct and busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
// we add 1 to allow for busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+1)
/**
* A UAVCAN node.
src/drivers/uavcannode/uavcannode_main.hpp
+2 -2
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@@ -51,8 +51,8 @@
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 1
#define UAVCAN_DEVICE_PATH "/dev/uavcan/node"
// we add two to allow for actuator_direct and busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
// we add 1 to allow for busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+1)
/**
* A UAVCAN node.