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irlock update orb_publish usage to uORB::PublicationMulti<>

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This commit is contained in:
Daniel Agar
2019-11-30 12:35:34 -05:00
parent 349739b812
commit 2a6e889b28
1 changed files with 5 additions and 16 deletions
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21
src/drivers/irlock/irlock.cpp
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@@ -49,7 +49,7 @@
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/irlock_report.h>
/** Configuration Constants **/
@@ -132,7 +132,7 @@ private:
uint32_t _read_failures;
int _orb_class_instance;
orb_advert_t _irlock_report_topic;
uORB::Publication<irlock_report_s> _irlock_report_topic{ORB_ID(irlock_report)};
};
/** global pointer for single IRLOCK sensor **/
@@ -152,8 +152,7 @@ IRLOCK::IRLOCK(int bus, int address) :
_reports(nullptr),
_sensor_ok(false),
_read_failures(0),
_orb_class_instance(-1),
_irlock_report_topic(nullptr)
_orb_class_instance(-1)
{
}
@@ -366,8 +365,7 @@ int IRLOCK::read_device()
// publish over uORB
if (report.num_targets > 0) {
struct irlock_report_s orb_report;
irlock_report_s orb_report{};
orb_report.timestamp = report.timestamp;
orb_report.signature = report.targets[0].signature;
orb_report.pos_x = report.targets[0].pos_x;
@@ -375,16 +373,7 @@ int IRLOCK::read_device()
orb_report.size_x = report.targets[0].size_x;
orb_report.size_y = report.targets[0].size_y;
if (_irlock_report_topic != nullptr) {
orb_publish(ORB_ID(irlock_report), _irlock_report_topic, &orb_report);
} else {
_irlock_report_topic = orb_advertise_multi(ORB_ID(irlock_report), &orb_report, &_orb_class_instance, ORB_PRIO_LOW);
if (_irlock_report_topic == nullptr) {
DEVICE_LOG("failed to create irlock_report object. Did you start uOrb?");
}
}
_irlock_report_topic.publish(orb_report);
}
return OK;