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uORB::Subscription minor API cleanup

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* the forceInit() method was combined with the existing subscribe()
 * delete unused last_update()
This commit is contained in:
Daniel Agar
2019-08-06 10:28:49 -04:00
committed by GitHub
parent cfba41d2f4
commit 8f5b7de498
10 changed files with 71 additions and 66 deletions
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4
src/modules/uORB/SubscriptionCallback.hpp
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@@ -78,7 +78,7 @@ public:
int fd = orb_subscribe_multi(_subscription.get_topic(), _subscription.get_instance());
// try to register callback again
if (_subscription.forceInit()) {
if (_subscription.subscribe()) {
if (_subscription.get_node() && _subscription.get_node()->register_callback(this)) {
ret = true;
}
@@ -124,7 +124,7 @@ public:
void call() override
{
// schedule immediately if no interval, otherwise check time elapsed
if ((_interval == 0) || (hrt_elapsed_time(&_last_update) >= _interval)) {
if ((_interval_us == 0) || (hrt_elapsed_time(&_last_update) >= _interval_us)) {
_work_item->ScheduleNow();
}
}