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::Subscription minor API cleanup

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

21
src/modules/uORB/SubscriptionInterval.hpp
View File

@@ -64,13 +64,15 @@ public:
*/
SubscriptionInterval(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) :
_subscription{meta, instance},
_interval(interval_us)
_interval_us(interval_us)
{}
SubscriptionInterval() : _subscription{nullptr} {}
~SubscriptionInterval() = default;
bool subscribe() { return _subscription.subscribe(); }
bool published() { return _subscription.published(); }
/**
@@ -78,7 +80,7 @@ public:
* */
bool updated()
{
if (published() && (hrt_elapsed_time(&_last_update) >= _interval)) {
if (published() && (hrt_elapsed_time(&_last_update) >= _interval_us)) {
return _subscription.updated();
}
@@ -118,15 +120,24 @@ public:
uint8_t get_instance() const { return _subscription.get_instance(); }
orb_id_t get_topic() const { return _subscription.get_topic(); }
uint32_t get_interval() const { return _interval; }
void set_interval(uint32_t interval) { _interval = interval; }
/**
* Set the interval in microseconds
* @param interval The interval in microseconds.
*/
void set_interval_us(uint32_t interval) { _interval_us = interval; }
/**
* Set the interval in milliseconds
* @param interval The interval in milliseconds.
*/
void set_interval_ms(uint32_t interval) { _interval_us = interval * 1000; }
protected:
Subscription _subscription;
uint64_t _last_update{0}; // last update in microseconds
uint32_t _interval{0}; // maximum update interval in microseconds
uint32_t _interval_us{0}; // maximum update interval in microseconds
};