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uORB: SubscriptionCallback cleanup naming

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This commit is contained in:
Daniel Agar
2019-06-29 13:27:05 -04:00
parent 3f9b3fb4da
commit fd67bd0680
9 changed files with 29 additions and 28 deletions
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src/lib/mixer_module/mixer_module.cpp
+2 -2
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@@ -139,7 +139,7 @@ bool MixingOutput::updateSubscriptions(bool allow_wq_switch)
if (_groups_required & (1 << i)) { if (_groups_required & (1 << i)) {
PX4_DEBUG("subscribe to actuator_controls_%d", i); PX4_DEBUG("subscribe to actuator_controls_%d", i);
if (!_control_subs[i].register_callback()) { if (!_control_subs[i].registerCallback()) {
PX4_ERR("actuator_controls_%d register callback failed!", i); PX4_ERR("actuator_controls_%d register callback failed!", i);
} }
} }
@@ -205,7 +205,7 @@ void MixingOutput::setAllDisarmedValues(uint16_t value)
void MixingOutput::unregister() void MixingOutput::unregister()
{ {
for (auto &control_sub : _control_subs) { for (auto &control_sub : _control_subs) {
control_sub.unregister_callback(); control_sub.unregisterCallback();
} }
} }
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -2
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@@ -138,7 +138,7 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
bool bool
FixedwingAttitudeControl::init() FixedwingAttitudeControl::init()
{ {
if (!_att_sub.register_callback()) { if (!_att_sub.registerCallback()) {
PX4_ERR("vehicle attitude callback registration failed!"); PX4_ERR("vehicle attitude callback registration failed!");
return false; return false;
} }
@@ -444,7 +444,7 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
void FixedwingAttitudeControl::Run() void FixedwingAttitudeControl::Run()
{ {
if (should_exit()) { if (should_exit()) {
_att_sub.unregister_callback(); _att_sub.unregisterCallback();
exit_and_cleanup(); exit_and_cleanup();
return; return;
} }
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -2
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@@ -120,7 +120,7 @@ FixedwingPositionControl::~FixedwingPositionControl()
bool bool
FixedwingPositionControl::init() FixedwingPositionControl::init()
{ {
if (!_global_pos_sub.register_callback()) { if (!_global_pos_sub.registerCallback()) {
PX4_ERR("vehicle global position callback registration failed!"); PX4_ERR("vehicle global position callback registration failed!");
return false; return false;
} }
@@ -1651,7 +1651,7 @@ void
FixedwingPositionControl::Run() FixedwingPositionControl::Run()
{ {
if (should_exit()) { if (should_exit()) {
_global_pos_sub.unregister_callback(); _global_pos_sub.unregisterCallback();
exit_and_cleanup(); exit_and_cleanup();
return; return;
} }
src/modules/mc_att_control/mc_att_control_main.cpp
+2 -2
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@@ -90,7 +90,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
bool bool
MulticopterAttitudeControl::init() MulticopterAttitudeControl::init()
{ {
if (!_vehicle_angular_velocity_sub.register_callback()) { if (!_vehicle_angular_velocity_sub.registerCallback()) {
PX4_ERR("vehicle_angular_velocity callback registration failed!"); PX4_ERR("vehicle_angular_velocity callback registration failed!");
return false; return false;
} }
@@ -520,7 +520,7 @@ void
MulticopterAttitudeControl::Run() MulticopterAttitudeControl::Run()
{ {
if (should_exit()) { if (should_exit()) {
_vehicle_angular_velocity_sub.unregister_callback(); _vehicle_angular_velocity_sub.unregisterCallback();
exit_and_cleanup(); exit_and_cleanup();
return; return;
} }
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+5 -5
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@@ -69,7 +69,7 @@ VehicleAcceleration::Start()
SensorBiasUpdate(true); SensorBiasUpdate(true);
// needed to change the active sensor if the primary stops updating // needed to change the active sensor if the primary stops updating
_sensor_selection_sub.register_callback(); _sensor_selection_sub.registerCallback();
return SensorCorrectionsUpdate(true); return SensorCorrectionsUpdate(true);
} }
@@ -81,10 +81,10 @@ VehicleAcceleration::Stop()
// clear all registered callbacks // clear all registered callbacks
for (auto &sub : _sensor_sub) { for (auto &sub : _sensor_sub) {
sub.unregister_callback(); sub.unregisterCallback();
} }
_sensor_selection_sub.unregister_callback(); _sensor_selection_sub.unregisterCallback();
} }
void void
@@ -132,12 +132,12 @@ VehicleAcceleration::SensorCorrectionsUpdate(bool force)
if (corrections.selected_accel_instance < MAX_SENSOR_COUNT) { if (corrections.selected_accel_instance < MAX_SENSOR_COUNT) {
// clear all registered callbacks // clear all registered callbacks
for (auto &sub : _sensor_sub) { for (auto &sub : _sensor_sub) {
sub.unregister_callback(); sub.unregisterCallback();
} }
const int sensor_new = corrections.selected_accel_instance; const int sensor_new = corrections.selected_accel_instance;
if (_sensor_sub[sensor_new].register_callback()) { if (_sensor_sub[sensor_new].registerCallback()) {
PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor, sensor_new); PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor, sensor_new);
_selected_sensor = sensor_new; _selected_sensor = sensor_new;
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+7 -7
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@@ -69,7 +69,7 @@ VehicleAngularVelocity::Start()
SensorBiasUpdate(true); SensorBiasUpdate(true);
// needed to change the active sensor if the primary stops updating // needed to change the active sensor if the primary stops updating
_sensor_selection_sub.register_callback(); _sensor_selection_sub.registerCallback();
return SensorCorrectionsUpdate(true); return SensorCorrectionsUpdate(true);
} }
@@ -81,10 +81,10 @@ VehicleAngularVelocity::Stop()
// clear all registered callbacks // clear all registered callbacks
for (auto &sub : _sensor_sub) { for (auto &sub : _sensor_sub) {
sub.unregister_callback(); sub.unregisterCallback();
} }
_sensor_selection_sub.unregister_callback(); _sensor_selection_sub.unregisterCallback();
} }
void void
@@ -143,11 +143,11 @@ VehicleAngularVelocity::SensorCorrectionsUpdate(bool force)
if (corrections.selected_gyro_instance < MAX_SENSOR_COUNT) { if (corrections.selected_gyro_instance < MAX_SENSOR_COUNT) {
// clear all registered callbacks // clear all registered callbacks
for (auto &sub : _sensor_control_sub) { for (auto &sub : _sensor_control_sub) {
sub.unregister_callback(); sub.unregisterCallback();
} }
for (auto &sub : _sensor_sub) { for (auto &sub : _sensor_sub) {
sub.unregister_callback(); sub.unregisterCallback();
} }
const int sensor_new = corrections.selected_gyro_instance; const int sensor_new = corrections.selected_gyro_instance;
@@ -159,7 +159,7 @@ VehicleAngularVelocity::SensorCorrectionsUpdate(bool force)
_sensor_control_sub[i].copy(&report); _sensor_control_sub[i].copy(&report);
if ((report.device_id != 0) && (report.device_id == _selected_sensor_device_id)) { if ((report.device_id != 0) && (report.device_id == _selected_sensor_device_id)) {
if (_sensor_control_sub[i].register_callback()) { if (_sensor_control_sub[i].registerCallback()) {
PX4_DEBUG("selected sensor (control) changed %d -> %d", _selected_sensor, i); PX4_DEBUG("selected sensor (control) changed %d -> %d", _selected_sensor, i);
_selected_sensor_control = i; _selected_sensor_control = i;
@@ -176,7 +176,7 @@ VehicleAngularVelocity::SensorCorrectionsUpdate(bool force)
// otherwise fallback to using sensor_gyro (legacy that will be removed) // otherwise fallback to using sensor_gyro (legacy that will be removed)
_sensor_control_available = false; _sensor_control_available = false;
if (_sensor_sub[sensor_new].register_callback()) { if (_sensor_sub[sensor_new].registerCallback()) {
PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor, sensor_new); PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor, sensor_new);
_selected_sensor = sensor_new; _selected_sensor = sensor_new;
src/modules/uORB/SubscriptionCallback.hpp
+4 -3
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@@ -53,6 +53,7 @@ public:
* Constructor * Constructor
* *
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic. * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
* @param interval_ms The requested maximum update interval in milliseconds.
* @param instance The instance for multi sub. * @param instance The instance for multi sub.
*/ */
SubscriptionCallback(const orb_metadata *meta, uint8_t interval_ms = 0, uint8_t instance = 0) : SubscriptionCallback(const orb_metadata *meta, uint8_t interval_ms = 0, uint8_t instance = 0) :
@@ -62,10 +63,10 @@ public:
virtual ~SubscriptionCallback() virtual ~SubscriptionCallback()
{ {
unregister_callback(); unregisterCallback();
}; };
bool register_callback() bool registerCallback()
{ {
bool ret = false; bool ret = false;
@@ -91,7 +92,7 @@ public:
return ret; return ret;
} }
void unregister_callback() void unregisterCallback()
{ {
if (_subscription.get_node()) { if (_subscription.get_node()) {
_subscription.get_node()->unregister_callback(this); _subscription.get_node()->unregister_callback(this);
src/modules/uORB/SubscriptionInterval.hpp
+1 -1
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@@ -137,7 +137,7 @@ protected:
Subscription _subscription; Subscription _subscription;
uint64_t _last_update{0}; // last update in microseconds uint64_t _last_update{0}; // last update in microseconds
uint32_t _interval_us{0}; // maximum update interval in microseconds uint32_t _interval_us{0}; // maximum update interval in microseconds
}; };
src/modules/vtol_att_control/vtol_att_control_main.cpp
+4 -4
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@@ -114,12 +114,12 @@ VtolAttitudeControl::~VtolAttitudeControl()
bool bool
VtolAttitudeControl::init() VtolAttitudeControl::init()
{ {
if (!_actuator_inputs_mc.register_callback()) { if (!_actuator_inputs_mc.registerCallback()) {
PX4_ERR("MC actuator controls callback registration failed!"); PX4_ERR("MC actuator controls callback registration failed!");
return false; return false;
} }
if (!_actuator_inputs_fw.register_callback()) { if (!_actuator_inputs_fw.registerCallback()) {
PX4_ERR("FW actuator controls callback registration failed!"); PX4_ERR("FW actuator controls callback registration failed!");
return false; return false;
} }
@@ -290,8 +290,8 @@ void
VtolAttitudeControl::Run() VtolAttitudeControl::Run()
{ {
if (should_exit()) { if (should_exit()) {
_actuator_inputs_fw.unregister_callback(); _actuator_inputs_fw.unregisterCallback();
_actuator_inputs_mc.unregister_callback(); _actuator_inputs_mc.unregisterCallback();
exit_and_cleanup(); exit_and_cleanup();
return; return;
} }