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uavcan: break the link between poll fd indexes and controls

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this linkage was fragile and makes it harder to add new orb
subscriptions to the uavcan code
This commit is contained in:
Andrew Tridgell
2014-11-20 09:05:10 +11:00
parent 7cb613bb26
commit 2dae1bc542
2 changed files with 5 additions and 3 deletions
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5
src/modules/uavcan/uavcan_main.cpp
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@@ -333,14 +333,12 @@ int UavcanNode::run()
} else {
// get controls for required topics
bool controls_updated = false;
unsigned poll_id = 1;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
if (_poll_fds[_poll_ids[i]].revents & POLLIN) {
controls_updated = true;
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
}
poll_id++;
}
}
@@ -474,6 +472,7 @@ UavcanNode::subscribe()
if (_control_subs[i] > 0) {
_poll_fds[_poll_fds_num].fd = _control_subs[i];
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_ids[i] = _poll_fds_num;
_poll_fds_num++;
}
}