From 26185f7c07e772553df29a275f2811cba9c0571d Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 5 Feb 2019 11:06:28 -0500
Subject: [PATCH] navigator orb subscribe/unsubscribe in constructor/destructor
---
src/modules/navigator/navigator.h | 3 +-
src/modules/navigator/navigator_main.cpp | 53 +++++++++++++-----------
2 files changed, 31 insertions(+), 25 deletions(-)
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 8dc30815d7..2c16d97f23 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -84,7 +84,8 @@ class Navigator : public ModuleBase<Navigator>, public ModuleParams
{
public:
Navigator();
- virtual ~Navigator() = default;
+ ~Navigator() override;
+
Navigator(const Navigator &) = delete;
Navigator operator=(const Navigator &) = delete;
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 8356ec5b11..21d4cd6d66 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -113,6 +113,35 @@ Navigator::Navigator() :
_handle_back_trans_dec_mss = param_find("VT_B_DEC_MSS");
_handle_reverse_delay = param_find("VT_B_REV_DEL");
+
+ // subscriptions
+ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+ _local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
+ _gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+ _pos_ctrl_landing_status_sub = orb_subscribe(ORB_ID(position_controller_landing_status));
+ _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+ _land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
+ _home_pos_sub = orb_subscribe(ORB_ID(home_position));
+ _offboard_mission_sub = orb_subscribe(ORB_ID(mission));
+ _param_update_sub = orb_subscribe(ORB_ID(parameter_update));
+ _vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
+ _traffic_sub = orb_subscribe(ORB_ID(transponder_report));
+
+ reset_triplets();
+}
+
+Navigator::~Navigator()
+{
+ orb_unsubscribe(_global_pos_sub);
+ orb_unsubscribe(_local_pos_sub);
+ orb_unsubscribe(_gps_pos_sub);
+ orb_unsubscribe(_pos_ctrl_landing_status_sub);
+ orb_unsubscribe(_vstatus_sub);
+ orb_unsubscribe(_land_detected_sub);
+ orb_unsubscribe(_home_pos_sub);
+ orb_unsubscribe(_offboard_mission_sub);
+ orb_unsubscribe(_param_update_sub);
+ orb_unsubscribe(_vehicle_command_sub);
}
void
@@ -189,19 +218,6 @@ Navigator::run()
_geofence.loadFromFile(GEOFENCE_FILENAME);
}
- /* do subscriptions */
- _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
- _local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
- _gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
- _pos_ctrl_landing_status_sub = orb_subscribe(ORB_ID(position_controller_landing_status));
- _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
- _land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
- _home_pos_sub = orb_subscribe(ORB_ID(home_position));
- _offboard_mission_sub = orb_subscribe(ORB_ID(mission));
- _param_update_sub = orb_subscribe(ORB_ID(parameter_update));
- _vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
- _traffic_sub = orb_subscribe(ORB_ID(transponder_report));
-
/* copy all topics first time */
vehicle_status_update();
vehicle_land_detected_update();
@@ -777,17 +793,6 @@ Navigator::run()
perf_end(_loop_perf);
}
-
- orb_unsubscribe(_global_pos_sub);
- orb_unsubscribe(_local_pos_sub);
- orb_unsubscribe(_gps_pos_sub);
- orb_unsubscribe(_pos_ctrl_landing_status_sub);
- orb_unsubscribe(_vstatus_sub);
- orb_unsubscribe(_land_detected_sub);
- orb_unsubscribe(_home_pos_sub);
- orb_unsubscribe(_offboard_mission_sub);
- orb_unsubscribe(_param_update_sub);
- orb_unsubscribe(_vehicle_command_sub);
}
int Navigator::task_spawn(int argc, char *argv[])
--
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