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Code Issues Actions 6 Packages Projects Releases Wiki Activity

uORB::Publication improvements and cleanup (#14784)

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- create common uORB::PublicationBase
 - uORB::PublicationQueued types are now type aliases
 - ORB_PRIO use enum type everywhere to avoid accidental misuse
 - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
This commit is contained in:
Daniel Agar
2020-05-04 11:09:30 -04:00
committed by GitHub
parent 8e2c52a31a
commit 466b5db36f
68 changed files with 218 additions and 381 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/camera_capture/camera_capture.hpp
-1
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@@ -50,7 +50,6 @@
#include <px4_platform_common/workqueue.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/vehicle_command.h>
src/drivers/camera_trigger/camera_trigger.cpp
+1 -1
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@@ -56,7 +56,7 @@
#include <parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/camera_capture.h>
src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+1 -1
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@@ -117,7 +117,7 @@ private:
SF1XX::SF1XX(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
I2C(DRV_DIST_DEVTYPE_SF1XX, MODULE_NAME, bus, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(DRV_DIST_DEVTYPE_SF1XX, rotation)
_px4_rangefinder(DRV_DIST_DEVTYPE_SF1XX, ORB_PRIO_DEFAULT, rotation)
{
}
src/drivers/gps/gps.cpp
+1 -1
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@@ -53,7 +53,7 @@
#include <px4_platform_common/cli.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/gps_dump.h>
src/drivers/imu/bmi055/BMI055_accel.cpp
+1 -1
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@@ -47,7 +47,7 @@ const uint8_t BMI055_accel::_checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTER
BMI055_accel::BMI055_accel(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device,
enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) :
BMI055(DRV_ACC_DEVTYPE_BMI055, "bmi055_accel", path_accel, bus_option, bus, device, spi_mode, bus_frequency, rotation),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_accel_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi055_accel_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi055_accel_bad_registers")),
src/drivers/imu/bmi055/BMI055_gyro.cpp
+1 -1
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@@ -52,7 +52,7 @@ const uint8_t BMI055_gyro::_checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS]
BMI055_gyro::BMI055_gyro(I2CSPIBusOption bus_option, int bus, const char *path_gyro, uint32_t device,
enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) :
BMI055(DRV_GYR_DEVTYPE_BMI055, "bmi055_gyro", path_gyro, bus_option, bus, device, spi_mode, bus_frequency, rotation),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_gyro_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_registers"))
src/drivers/imu/bmi088/BMI088_accel.cpp
+1 -1
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@@ -56,7 +56,7 @@ BMI088_accel::BMI088_accel(I2CSPIBusOption bus_option, int bus, const char *path
enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode) :
BMI088("bmi088_accel", path_accel, bus_option, bus, DRV_ACC_DEVTYPE_BMI088, device, spi_mode, bus_frequency, rotation),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi088_accel_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi088_accel_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi088_accel_bad_registers")),
src/drivers/imu/bmi088/BMI088_gyro.cpp
+1 -1
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@@ -60,7 +60,7 @@ BMI088_gyro::BMI088_gyro(I2CSPIBusOption bus_option, int bus, const char *path_g
enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) :
BMI088("bmi088_gyro", path_gyro, bus_option, bus, DRV_GYR_DEVTYPE_BMI088, device, spi_mode, bus_frequency,
rotation),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi088_gyro_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_registers"))
src/drivers/px4io/px4io.cpp
+1 -1
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@@ -80,7 +80,7 @@
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
src/drivers/safety_button/SafetyButton.hpp
-1
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@@ -43,7 +43,6 @@
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
src/drivers/telemetry/iridiumsbd/IridiumSBD.h
-1
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@@ -40,7 +40,6 @@
#include <drivers/drv_hrt.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/subsystem_info.h>
src/drivers/uavcan/uavcan_servers.hpp
-1
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@@ -38,7 +38,6 @@
#include <drivers/device/Device.hpp>
#include <lib/perf/perf_counter.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/uavcan_parameter_value.h>
#include <uORB/topics/vehicle_command_ack.h>
src/lib/avoidance/ObstacleAvoidance.hpp
-1
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@@ -47,7 +47,6 @@
#include <drivers/drv_hrt.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/vehicle_command.h>
src/lib/collision_prevention/CollisionPrevention.hpp
-1
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@@ -50,7 +50,6 @@
#include <px4_platform_common/module_params.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/collision_constraints.h>
#include <uORB/topics/distance_sensor.h>
src/lib/drivers/accelerometer/PX4Accelerometer.cpp
+10 -1
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@@ -63,7 +63,7 @@ static constexpr unsigned clipping(const int16_t samples[16], int16_t clip_limit
return clip_count;
}
PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
PX4Accelerometer::PX4Accelerometer(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
CDev(nullptr),
_sensor_pub{ORB_ID(sensor_accel), priority},
_sensor_fifo_pub{ORB_ID(sensor_accel_fifo), priority},
@@ -72,7 +72,11 @@ PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Ro
_device_id{device_id},
_rotation{rotation}
{
// register class and advertise immediately to keep instance numbering in sync
_class_device_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
_sensor_pub.advertise();
_sensor_integrated_pub.advertise();
_sensor_status_pub.advertise();
}
PX4Accelerometer::~PX4Accelerometer()
@@ -80,6 +84,11 @@ PX4Accelerometer::~PX4Accelerometer()
if (_class_device_instance != -1) {
unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _class_device_instance);
}
_sensor_pub.unadvertise();
_sensor_fifo_pub.unadvertise();
_sensor_integrated_pub.unadvertise();
_sensor_status_pub.unadvertise();
}
int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
src/lib/drivers/accelerometer/PX4Accelerometer.hpp
+2 -2
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@@ -40,7 +40,7 @@
#include <lib/drivers/device/integrator.h>
#include <lib/ecl/geo/geo.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/PublicationQueuedMulti.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_accel_fifo.h>
#include <uORB/topics/sensor_accel_integrated.h>
@@ -49,7 +49,7 @@
class PX4Accelerometer : public cdev::CDev
{
public:
PX4Accelerometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
PX4Accelerometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
~PX4Accelerometer() override;
int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
src/lib/drivers/barometer/PX4Barometer.cpp
+4 -1
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@@ -36,11 +36,12 @@
#include <lib/drivers/device/Device.hpp>
PX4Barometer::PX4Barometer(uint32_t device_id, uint8_t priority) :
PX4Barometer::PX4Barometer(uint32_t device_id, ORB_PRIO priority) :
CDev(nullptr),
_sensor_baro_pub{ORB_ID(sensor_baro), priority}
{
_class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
_sensor_baro_pub.advertise();
_sensor_baro_pub.get().device_id = device_id;
}
@@ -50,6 +51,8 @@ PX4Barometer::~PX4Barometer()
if (_class_device_instance != -1) {
unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_device_instance);
}
_sensor_baro_pub.unadvertise();
}
void
src/lib/drivers/barometer/PX4Barometer.hpp
+1 -1
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@@ -45,7 +45,7 @@ class PX4Barometer : public cdev::CDev
{
public:
PX4Barometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT);
PX4Barometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT);
~PX4Barometer() override;
const sensor_baro_s &get() { return _sensor_baro_pub.get(); }
src/lib/drivers/gyroscope/PX4Gyroscope.cpp
+10 -1
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@@ -63,7 +63,7 @@ static constexpr unsigned clipping(const int16_t samples[16], int16_t clip_limit
return clip_count;
}
PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
PX4Gyroscope::PX4Gyroscope(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
CDev(nullptr),
ModuleParams(nullptr),
_sensor_pub{ORB_ID(sensor_gyro), priority},
@@ -73,7 +73,11 @@ PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation r
_device_id{device_id},
_rotation{rotation}
{
// register class and advertise immediately to keep instance numbering in sync
_class_device_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
_sensor_pub.advertise();
_sensor_integrated_pub.advertise();
_sensor_status_pub.advertise();
updateParams();
}
@@ -83,6 +87,11 @@ PX4Gyroscope::~PX4Gyroscope()
if (_class_device_instance != -1) {
unregister_class_devname(GYRO_BASE_DEVICE_PATH, _class_device_instance);
}
_sensor_pub.unadvertise();
_sensor_fifo_pub.unadvertise();
_sensor_integrated_pub.unadvertise();
_sensor_status_pub.unadvertise();
}
int PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
src/lib/drivers/gyroscope/PX4Gyroscope.hpp
+2 -2
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@@ -40,7 +40,7 @@
#include <lib/drivers/device/integrator.h>
#include <px4_platform_common/module_params.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/PublicationQueuedMulti.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_gyro_fifo.h>
#include <uORB/topics/sensor_gyro_integrated.h>
@@ -49,7 +49,7 @@
class PX4Gyroscope : public cdev::CDev, public ModuleParams
{
public:
PX4Gyroscope(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
PX4Gyroscope(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
~PX4Gyroscope() override;
int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
src/lib/drivers/magnetometer/PX4Magnetometer.cpp
+5 -1
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@@ -36,13 +36,15 @@
#include <lib/drivers/device/Device.hpp>
PX4Magnetometer::PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
PX4Magnetometer::PX4Magnetometer(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
CDev(nullptr),
_sensor_mag_pub{ORB_ID(sensor_mag), priority},
_rotation{rotation}
{
_class_device_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
_sensor_mag_pub.advertise();
_sensor_mag_pub.get().device_id = device_id;
_sensor_mag_pub.get().scaling = 1.0f;
_sensor_mag_pub.get().temperature = NAN;
@@ -53,6 +55,8 @@ PX4Magnetometer::~PX4Magnetometer()
if (_class_device_instance != -1) {
unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_device_instance);
}
_sensor_mag_pub.unadvertise();
}
int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
src/lib/drivers/magnetometer/PX4Magnetometer.hpp
+1 -1
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@@ -45,7 +45,7 @@ class PX4Magnetometer : public cdev::CDev
{
public:
PX4Magnetometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
PX4Magnetometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
~PX4Magnetometer() override;
int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
src/lib/drivers/rangefinder/PX4Rangefinder.cpp
+8 -1
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@@ -35,13 +35,20 @@
#include <lib/drivers/device/Device.hpp>
PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t priority, const uint8_t device_orientation) :
PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const ORB_PRIO priority, const uint8_t device_orientation) :
_distance_sensor_pub{ORB_ID(distance_sensor), priority}
{
_distance_sensor_pub.advertise();
set_device_id(device_id);
set_orientation(device_orientation);
}
PX4Rangefinder::~PX4Rangefinder()
{
_distance_sensor_pub.unadvertise();
}
void PX4Rangefinder::set_device_type(uint8_t device_type)
{
// TODO: range finders should have device ids
src/lib/drivers/rangefinder/PX4Rangefinder.hpp
+2 -2
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@@ -44,9 +44,9 @@ class PX4Rangefinder
public:
PX4Rangefinder(const uint32_t device_id,
const uint8_t priority = ORB_PRIO_DEFAULT,
const ORB_PRIO priority = ORB_PRIO_DEFAULT,
const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
~PX4Rangefinder() = default;
~PX4Rangefinder();
void print_status();
src/lib/flight_tasks/FlightTasks.hpp
+1 -1
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@@ -44,7 +44,7 @@
#include "FlightTask.hpp"
#include "FlightTasks_generated.hpp"
#include <lib/weather_vane/WeatherVane.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_command.h>
src/lib/mixer_module/mixer_module.cpp
+1 -1
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@@ -35,7 +35,7 @@
#include <lib/mixer/MultirotorMixer/MultirotorMixer.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <px4_platform_common/log.h>
using namespace time_literals;
src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
+1 -1
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@@ -39,7 +39,7 @@
#include <px4_platform_common/px4_config.h>
#include <lib/parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
src/modules/commander/Commander.hpp
-1
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@@ -46,7 +46,6 @@
// publications
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/test_motor.h>
src/modules/commander/accelerometer_calibration.cpp
+1 -1
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@@ -556,7 +556,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
if (device_id[cur_accel] != 0) {
// Get priority
int32_t prio;
ORB_PRIO prio = ORB_PRIO_UNINITIALIZED;
orb_priority(worker_data.subs[cur_accel], &prio);
if (prio > device_prio_max) {
src/modules/commander/gyro_calibration.cpp
+1 -1
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@@ -332,7 +332,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
if (worker_data.device_id[cur_gyro] != 0) {
// Get priority
int32_t prio;
ORB_PRIO prio = ORB_PRIO_UNINITIALIZED;
orb_priority(worker_data.gyro_sensor_sub[cur_gyro], &prio);
if (prio > device_prio_max) {
src/modules/commander/mag_calibration.cpp
+1 -1
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@@ -639,7 +639,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
if (device_ids[cur_mag] != 0) {
// Get priority
int32_t prio;
ORB_PRIO prio = ORB_PRIO_UNINITIALIZED;
orb_priority(worker_data.sub_mag[cur_mag], &prio);
if (prio > device_prio_max) {
src/modules/events/send_event.h
+1 -1
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@@ -39,7 +39,7 @@
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
src/modules/events/status_display.h
+1 -1
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@@ -42,7 +42,7 @@
#include <drivers/drv_hrt.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/cpuload.h>
src/modules/load_mon/load_mon.cpp
-1
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@@ -48,7 +48,6 @@
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/cpuload.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/task_stack_info.h>
src/modules/logger/log_writer_mavlink.h
+1 -1
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@@ -34,7 +34,7 @@
#pragma once
#include <stdint.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/ulog_stream.h>
#include <uORB/topics/ulog_stream_ack.h>
src/modules/logger/logger.cpp
+1 -1
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@@ -45,7 +45,7 @@
#include <stdlib.h>
#include <time.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/uORBTopics.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_command_ack.h>
src/modules/mavlink/mavlink_main.cpp
+1 -1
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@@ -51,7 +51,7 @@
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/version/version.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include "mavlink_receiver.h"
#include "mavlink_main.h"
src/modules/mavlink/mavlink_main.h
+1 -1
View File
@@ -71,7 +71,7 @@
#include <px4_platform_common/posix.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/uthash/utlist.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/radio_status.h>
src/modules/mavlink/mavlink_parameters.h
-1
View File
@@ -46,7 +46,6 @@
#include "mavlink_bridge_header.h"
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/uavcan_parameter_request.h>
src/modules/mavlink/mavlink_receiver.h
-1
View File
@@ -54,7 +54,6 @@
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <px4_platform_common/module_params.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
src/modules/mavlink/tune_publisher.h
+1 -1
View File
@@ -33,7 +33,7 @@
#pragma once
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <drivers/drv_hrt.h>
#include <lib/tunes/tunes.h>
src/modules/mc_pos_control/mc_pos_control_main.cpp
-1
View File
@@ -54,7 +54,6 @@
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/home_position.h>
src/modules/muorb/test/muorb_test_example.cpp
-1
View File
@@ -44,7 +44,6 @@
#include <stdio.h>
#include <px4_platform_common/defines.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
px4::AppState MuorbTestExample::appState;
src/modules/navigator/navigator.h
+1 -1
View File
@@ -58,7 +58,7 @@
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/home_position.h>
src/modules/sensors/voted_sensors_update.cpp
+7 -5
View File
@@ -154,7 +154,7 @@ void VotedSensorsUpdate::parametersUpdate()
_gyro.enabled[driver_index] = (device_enabled == 1);
if (!_gyro.enabled[driver_index]) {
_gyro.priority[driver_index] = 0;
_gyro.priority[driver_index] = ORB_PRIO_UNINITIALIZED;
}
gyro_calibration_s gscale{};
@@ -250,7 +250,7 @@ void VotedSensorsUpdate::parametersUpdate()
_accel.enabled[driver_index] = (device_enabled == 1);
if (!_accel.enabled[driver_index]) {
_accel.priority[driver_index] = 0;
_accel.priority[driver_index] = ORB_PRIO_UNINITIALIZED;
}
accel_calibration_s ascale{};
@@ -387,7 +387,7 @@ void VotedSensorsUpdate::parametersUpdate()
// the mags that were published after the initial parameterUpdate
// would be given the priority even if disabled. Reset it to 0 in this case
if (!_mag.enabled[topic_instance]) {
_mag.priority[topic_instance] = 0;
_mag.priority[topic_instance] = ORB_PRIO_UNINITIALIZED;
}
mag_calibration_s mscale{};
@@ -702,14 +702,16 @@ bool VotedSensorsUpdate::checkFailover(SensorData &sensor, const char *sensor_na
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " ERR DNST" : ""));
// reduce priority of failed sensor to the minimum
sensor.priority[failover_index] = 1;
sensor.priority[failover_index] = ORB_PRIO_MIN;
PX4_ERR("Sensor %s #%i failed. Reconfiguring sensor priorities.", sensor_name, failover_index);
int ctr_valid = 0;
for (uint8_t i = 0; i < sensor.subscription_count; i++) {
if (sensor.priority[i] > 1) { ctr_valid++; }
if (sensor.priority[i] > ORB_PRIO_MIN) {
ctr_valid++;
}
PX4_WARN("Remaining sensors after failover event %u: %s #%u priority: %u", failover_index, sensor_name, i,
sensor.priority[i]);
src/modules/sensors/voted_sensors_update.h
+1 -2
View File
@@ -54,7 +54,6 @@
#include <lib/mag_compensation/MagCompensation.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_accel_integrated.h>
#include <uORB/topics/sensor_combined.h>
@@ -156,7 +155,7 @@ private:
uORB::Subscription subscription[SENSOR_COUNT_MAX]; /**< raw sensor data subscription */
DataValidatorGroup voter{1};
unsigned int last_failover_count{0};
uint8_t priority[SENSOR_COUNT_MAX] {}; /**< sensor priority */
ORB_PRIO priority[SENSOR_COUNT_MAX] {}; /**< sensor priority */
uint8_t last_best_vote{0}; /**< index of the latest best vote */
uint8_t subscription_count{0};
bool enabled[SENSOR_COUNT_MAX] {true, true, true, true};
src/modules/temperature_compensation/TemperatureCompensationModule.cpp
+1 -1
View File
@@ -35,7 +35,7 @@
#include "temperature_calibration/temperature_calibration.h"
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/vehicle_command.h>
#include <systemlib/mavlink_log.h>
src/modules/temperature_compensation/temperature_calibration/task.cpp
+1 -1
View File
@@ -39,7 +39,7 @@
* @author Beat Küng <beat-kueng@gmx.net>
*/
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/sensor_gyro.h>
#include <mathlib/mathlib.h>
#include <px4_platform_common/atomic.h>
src/modules/uORB/CMakeLists.txt
-2
View File
@@ -43,8 +43,6 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to plat
ORBSet.hpp
Publication.hpp
PublicationMulti.hpp
PublicationQueued.hpp
PublicationQueuedMulti.hpp
Subscription.cpp
Subscription.hpp
SubscriptionCallback.hpp
src/modules/uORB/Publication.hpp
+55 -22
View File
@@ -40,16 +40,47 @@
#include <px4_platform_common/defines.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include "uORBDeviceNode.hpp"
#include <uORB/topics/uORBTopics.hpp>
namespace uORB
{
class PublicationBase
{
public:
bool advertised() const { return _handle != nullptr; }
bool unadvertise() { return (DeviceNode::unadvertise(_handle) == PX4_OK); }
orb_id_t get_topic() const { return get_orb_meta(_orb_id); }
protected:
PublicationBase(ORB_ID id) : _orb_id(id) {}
~PublicationBase()
{
if (_handle != nullptr) {
// don't automatically unadvertise queued publications (eg vehicle_command)
if (static_cast<DeviceNode *>(_handle)->get_queue_size() == 1) {
unadvertise();
}
}
}
orb_advert_t _handle{nullptr};
const ORB_ID _orb_id;
};
/**
* Base publication wrapper class
* uORB publication wrapper class
*/
template<typename T>
class Publication
template<typename T, uint8_t ORB_QSIZE = 1>
class Publication : public PublicationBase
{
public:
@@ -58,8 +89,17 @@ public:
*
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
*/
Publication(const orb_metadata *meta) : _meta(meta) {}
~Publication() { orb_unadvertise(_handle); }
Publication(ORB_ID id) : PublicationBase(id) {}
Publication(const orb_metadata *meta) : PublicationBase(static_cast<ORB_ID>(meta->o_id)) {}
bool advertise()
{
if (!advertised()) {
_handle = orb_advertise_queue(get_topic(), nullptr, ORB_QSIZE);
}
return advertised();
}
/**
* Publish the struct
@@ -67,25 +107,12 @@ public:
*/
bool publish(const T &data)
{
if (_handle != nullptr) {
return (orb_publish(_meta, _handle, &data) == PX4_OK);
} else {
orb_advert_t handle = orb_advertise(_meta, &data);
if (handle != nullptr) {
_handle = handle;
return true;
}
if (!advertised()) {
advertise();
}
return false;
return (DeviceNode::publish(get_topic(), _handle, &data) == PX4_OK);
}
protected:
const orb_metadata *_meta;
orb_advert_t _handle{nullptr};
};
/**
@@ -100,8 +127,8 @@ public:
*
* @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) {}
~PublicationData() = default;
T &get() { return _data; }
void set(const T &data) { _data = data; }
@@ -118,4 +145,10 @@ private:
T _data{};
};
template<class T>
using PublicationQueued = Publication<T, T::ORB_QUEUE_LENGTH>;
} // namespace uORB

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