Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-02 03:49:12 +08:00
Code Issues Actions 6 Packages Projects Releases Wiki Activity

tone_alarm move to uORB::Subscription

Browse Source
This commit is contained in:
Daniel Agar
2019-08-20 11:28:02 -04:00
parent 5ae408382b
commit b439e08e24
2 changed files with 6 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/tone_alarm/ToneAlarm.cpp
+2 -14
View File
@@ -75,19 +75,10 @@ int ToneAlarm::init()
void ToneAlarm::next_note() void ToneAlarm::next_note()
{ {
if (!_should_run) { if (!_should_run) {
if (_tune_control_sub >= 0) {
orb_unsubscribe(_tune_control_sub);
}
_running = false; _running = false;
return; return;
} }
// Subscribe to tune_control.
if (_tune_control_sub < 0) {
_tune_control_sub = orb_subscribe(ORB_ID(tune_control));
}
// Check for updates // Check for updates
orb_update(); orb_update();
@@ -136,11 +127,8 @@ void ToneAlarm::Run()
void ToneAlarm::orb_update() void ToneAlarm::orb_update()
{ {
// Check for updates // Check for updates
bool updated = false; if (_tune_control_sub.updated()) {
orb_check(_tune_control_sub, &updated); _tune_control_sub.copy(&_tune);
if (updated) {
orb_copy(ORB_ID(tune_control), _tune_control_sub, &_tune);
if (_tune.timestamp > 0) { if (_tune.timestamp > 0) {
_play_tone = _tunes.set_control(_tune) == 0; _play_tone = _tunes.set_control(_tune) == 0;
src/drivers/tone_alarm/ToneAlarm.h
+4 -2
View File
@@ -47,8 +47,10 @@
#include <lib/tunes/tunes.h> #include <lib/tunes/tunes.h>
#include <px4_defines.h> #include <px4_defines.h>
#include <px4_work_queue/ScheduledWorkItem.hpp> #include <px4_work_queue/ScheduledWorkItem.hpp>
#include <string.h> #include <uORB/Subscription.hpp>
#include <uORB/topics/tune_control.h>
#include <string.h>
#if !defined(UNUSED) #if !defined(UNUSED)
# define UNUSED(a) ((void)(a)) # define UNUSED(a) ((void)(a))
@@ -109,7 +111,7 @@ private:
unsigned int _silence_length{0}; ///< If nonzero, silence before next note. unsigned int _silence_length{0}; ///< If nonzero, silence before next note.
int _tune_control_sub{-1}; uORB::Subscription _tune_control_sub{ORB_ID(tune_control)};
tune_control_s _tune{}; tune_control_s _tune{};