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uORB orb_exists use internal linked list instead of file path

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This commit is contained in:
Daniel Agar
2018-11-20 23:13:13 -05:00
committed by Beat Küng
parent 023e267e9b
commit a6684c6f9a
1 changed files with 23 additions and 11 deletions
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src/modules/uORB/uORBManager.cpp
+23 -11
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@@ -94,34 +94,44 @@ uORB::DeviceMaster *uORB::Manager::get_device_master()
int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance) int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
{ {
int ret = PX4_ERROR;
// instance valid range: [0, ORB_MULTI_MAX_INSTANCES)
if ((instance < 0) || (instance > (ORB_MULTI_MAX_INSTANCES - 1))) {
return ret;
}
if (get_device_master()) {
uORB::DeviceNode *node = _device_master->getDeviceNode(meta, instance);
if (node != nullptr) {
if (node->is_published()) {
return PX4_OK;
}
}
}
#ifdef ORB_COMMUNICATOR
/* /*
* Generate the path to the node and try to open it. * Generate the path to the node and try to open it.
*/ */
char path[orb_maxpath]; char path[orb_maxpath];
int inst = instance; int inst = instance;
int ret = uORB::Utils::node_mkpath(path, meta, &inst);
ret = uORB::Utils::node_mkpath(path, meta, &inst);
if (ret != OK) { if (ret != OK) {
errno = -ret; errno = -ret;
return PX4_ERROR; return PX4_ERROR;
} }
#if defined(__PX4_NUTTX)
struct stat buffer;
ret = stat(path, &buffer);
#else
ret = px4_access(path, F_OK); ret = px4_access(path, F_OK);
#ifdef ORB_COMMUNICATOR
if (ret == -1 && meta != nullptr && !_remote_topics.empty()) { if (ret == -1 && meta != nullptr && !_remote_topics.empty()) {
ret = (_remote_topics.find(meta->o_name) != _remote_topics.end()) ? OK : PX4_ERROR; ret = (_remote_topics.find(meta->o_name) != _remote_topics.end()) ? OK : PX4_ERROR;
} }
#endif /* ORB_COMMUNICATOR */
#endif
if (ret == 0) { if (ret == 0) {
// we know the topic exists, but it's not necessarily advertised/published yet (for example // we know the topic exists, but it's not necessarily advertised/published yet (for example
// if there is only a subscriber) // if there is only a subscriber)
@@ -141,6 +151,8 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
} }
} }
#endif /* ORB_COMMUNICATOR */
return ret; return ret;
} }