yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

uORB::Publication simplify and cleanup

Browse Source 
- base class is now template
 - drop linked list
 - virtualization no longer required
This commit is contained in:
Daniel Agar
2019-06-12 08:48:19 -04:00
committed by GitHub
parent 57fc6eb4b8
commit 79d4c09d59
26 changed files with 128 additions and 420 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
src/modules/navigator/navigator_main.cpp
View File

@@ -427,12 +427,7 @@ Navigator::run()
_vroi.timestamp = hrt_absolute_time();
if (_vehicle_roi_pub != nullptr) {
orb_publish(ORB_ID(vehicle_roi), _vehicle_roi_pub, &_vroi);
} else {
_vehicle_roi_pub = orb_advertise(ORB_ID(vehicle_roi), &_vroi);
}
_vehicle_roi_pub.publish(_vroi);
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
}
@@ -473,7 +468,7 @@ Navigator::run()
_geofence_violation_warning_sent = false;
}
publish_geofence_result();
_geofence_result_pub.publish(_geofence_result);
}
/* Do stuff according to navigation state set by commander */
@@ -746,12 +741,7 @@ Navigator::publish_position_setpoint_triplet()
_pos_sp_triplet.timestamp = hrt_absolute_time();
/* lazily publish the position setpoint triplet only once available */
if (_pos_sp_triplet_pub != nullptr) {
orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);
} else {
_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet);
}
_pos_sp_triplet_pub.publish(_pos_sp_triplet);
_pos_sp_triplet_updated = false;
}
@@ -1115,14 +1105,7 @@ Navigator::publish_mission_result()
_mission_result.timestamp = hrt_absolute_time();
/* lazily publish the mission result only once available */
if (_mission_result_pub != nullptr) {
/* publish mission result */
orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
} else {
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
_mission_result_pub.publish(_mission_result);
/* reset some of the flags */
_mission_result.item_do_jump_changed = false;
@@ -1132,20 +1115,6 @@ Navigator::publish_mission_result()
_mission_result_updated = false;
}
void
Navigator::publish_geofence_result()
{
/* lazily publish the geofence result only once available */
if (_geofence_result_pub != nullptr) {
/* publish mission result */
orb_publish(ORB_ID(geofence_result), _geofence_result_pub, &_geofence_result);
} else {
/* advertise and publish */
_geofence_result_pub = orb_advertise(ORB_ID(geofence_result), &_geofence_result);
}
}
void
Navigator::set_mission_failure(const char *reason)
{