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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 09:22:18 +00:00
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
103 lines
1.9 KiB
C++
103 lines
1.9 KiB
C++
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#include "subscriber_handler.h"
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#include <px4_platform_common/log.h>
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namespace events
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{
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void SubscriberHandler::subscribe()
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{
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if (_battery_status_sub < 0) {
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_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
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}
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if (_cpuload_sub < 0) {
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_cpuload_sub = orb_subscribe(ORB_ID(cpuload));
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}
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if (_vehicle_command_sub < 0) {
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_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
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}
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if (_vehicle_status_sub < 0) {
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_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
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}
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if (_vehicle_status_flags_sub < 0) {
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_vehicle_status_flags_sub = orb_subscribe(ORB_ID(vehicle_status_flags));
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}
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}
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void SubscriberHandler::unsubscribe()
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{
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if (_battery_status_sub >= 0) {
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orb_unsubscribe(_battery_status_sub);
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_battery_status_sub = -1;
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}
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if (_cpuload_sub >= 0) {
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orb_unsubscribe(_cpuload_sub);
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_cpuload_sub = -1;
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}
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if (_vehicle_command_sub >= 0) {
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orb_unsubscribe(_vehicle_command_sub);
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_vehicle_command_sub = -1;
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}
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if (_vehicle_status_sub >= 0) {
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orb_unsubscribe(_vehicle_status_sub);
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_vehicle_status_sub = -1;
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}
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if (_vehicle_status_flags_sub >= 0) {
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orb_unsubscribe(_vehicle_status_flags_sub);
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_vehicle_status_flags_sub = -1;
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}
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}
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void SubscriberHandler::check_for_updates()
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{
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bool updated;
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_update_bitfield = 0;
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orb_check(_vehicle_command_sub, &updated);
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if (updated) {
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_update_bitfield |= (uint32_t)StatusMask::VehicleCommand;
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}
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updated = false;
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orb_check(_vehicle_status_sub, &updated);
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if (updated) {
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_update_bitfield |= (uint32_t)StatusMask::VehicleStatus;
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}
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updated = false;
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orb_check(_vehicle_status_flags_sub, &updated);
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if (updated) {
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_update_bitfield |= (uint32_t)StatusMask::VehicleStatusFlags;
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}
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updated = false;
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orb_check(_battery_status_sub, &updated);
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if (updated) {
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_update_bitfield |= (uint32_t)StatusMask::BatteryStatus;
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}
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updated = false;
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orb_check(_cpuload_sub, &updated);
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if (updated) {
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_update_bitfield |= (uint32_t)StatusMask::CpuLoad;
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}
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}
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} /* namespace events */
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