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GPS driver update to uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-06-04 16:51:30 -04:00
committed by Beat Küng
parent bece63866d
commit f2b4480e6b
1 changed files with 5 additions and 15 deletions
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src/drivers/gps/gps.cpp
+5 -15
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@@ -75,7 +75,7 @@
#include <matrix/math.hpp> #include <matrix/math.hpp>
#include <systemlib/err.h> #include <systemlib/err.h>
#include <parameters/param.h> #include <parameters/param.h>
#include <uORB/uORB.h> #include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h> #include <uORB/topics/satellite_info.h>
#include <uORB/topics/gps_inject_data.h> #include <uORB/topics/gps_inject_data.h>
@@ -198,7 +198,7 @@ private:
const Instance _instance; const Instance _instance;
int _orb_inject_data_fd{-1}; uORB::Subscription _orb_inject_data_sub{ORB_ID(gps_inject_data)};
orb_advert_t _dump_communication_pub{nullptr}; ///< if non-null, dump communication orb_advert_t _dump_communication_pub{nullptr}; ///< if non-null, dump communication
gps_dump_s *_dump_to_device{nullptr}; gps_dump_s *_dump_to_device{nullptr};
gps_dump_s *_dump_from_device{nullptr}; gps_dump_s *_dump_from_device{nullptr};
@@ -439,18 +439,14 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
void GPS::handleInjectDataTopic() void GPS::handleInjectDataTopic()
{ {
if (_orb_inject_data_fd == -1) {
return;
}
bool updated = false; bool updated = false;
do { do {
orb_check(_orb_inject_data_fd, &updated); updated = _orb_inject_data_sub.updated();
if (updated) { if (updated) {
struct gps_inject_data_s msg; gps_inject_data_s msg;
orb_copy(ORB_ID(gps_inject_data), _orb_inject_data_fd, &msg); _orb_inject_data_sub.copy(&msg);
/* Write the message to the gps device. Note that the message could be fragmented. /* Write the message to the gps device. Note that the message could be fragmented.
* But as we don't write anywhere else to the device during operation, we don't * But as we don't write anywhere else to the device during operation, we don't
@@ -668,8 +664,6 @@ GPS::run()
param_get(handle, &gps_ubx_dynmodel); param_get(handle, &gps_ubx_dynmodel);
} }
_orb_inject_data_fd = orb_subscribe(ORB_ID(gps_inject_data));
initializeCommunicationDump(); initializeCommunicationDump();
uint64_t last_rate_measurement = hrt_absolute_time(); uint64_t last_rate_measurement = hrt_absolute_time();
@@ -853,8 +847,6 @@ GPS::run()
PX4_INFO("exiting"); PX4_INFO("exiting");
orb_unsubscribe(_orb_inject_data_fd);
if (_dump_communication_pub) { if (_dump_communication_pub) {
orb_unadvertise(_dump_communication_pub); orb_unadvertise(_dump_communication_pub);
} }
@@ -867,8 +859,6 @@ GPS::run()
orb_unadvertise(_report_gps_pos_pub); orb_unadvertise(_report_gps_pos_pub);
} }
int int
GPS::print_status() GPS::print_status()
{ {