From 737f7df6b8ac85ae32b50a9a14285f805d0ec89b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 28 Nov 2017 08:33:38 +0100
Subject: [PATCH] Subscription & SubscriptionArray: add forcedUpdate() methods
Can be used to immediately get & use the data, as needed for the flight
tasks.
---
src/lib/FlightTasks/FlightTasks.hpp | 2 ++
src/lib/FlightTasks/SubscriptionArray.cpp | 7 +++++++
src/lib/FlightTasks/SubscriptionArray.hpp | 7 ++++++-
src/modules/uORB/Subscription.hpp | 16 +++++++++++++---
4 files changed, 28 insertions(+), 4 deletions(-)
diff --git a/src/lib/FlightTasks/FlightTasks.hpp b/src/lib/FlightTasks/FlightTasks.hpp
index 7b464c21c5..1388b92499 100644
--- a/src/lib/FlightTasks/FlightTasks.hpp
+++ b/src/lib/FlightTasks/FlightTasks.hpp
@@ -151,6 +151,8 @@ public:
return -3;
}
+ _subscription_array.forcedUpdate(); // make sure data is available for all new subscriptions
+
_current_task_index = task_number;
return 0;
}
diff --git a/src/lib/FlightTasks/SubscriptionArray.cpp b/src/lib/FlightTasks/SubscriptionArray.cpp
index 6a42cbde1d..f56e47fb2f 100644
--- a/src/lib/FlightTasks/SubscriptionArray.cpp
+++ b/src/lib/FlightTasks/SubscriptionArray.cpp
@@ -76,3 +76,10 @@ void SubscriptionArray::update()
_subscriptions[i]->update();
}
}
+
+void SubscriptionArray::forcedUpdate()
+{
+ for (int i = 0; i < _subscriptions_count; ++i) {
+ _subscriptions[i]->forcedUpdate();
+ }
+}
diff --git a/src/lib/FlightTasks/SubscriptionArray.hpp b/src/lib/FlightTasks/SubscriptionArray.hpp
index a5f7121844..86d36ffcb8 100644
--- a/src/lib/FlightTasks/SubscriptionArray.hpp
+++ b/src/lib/FlightTasks/SubscriptionArray.hpp
@@ -60,10 +60,15 @@ public:
bool get(const struct orb_metadata *meta, uORB::Subscription<T> *&subscription, unsigned instance = 0);
/**
- * update all subscriptions
+ * update all subscriptions (if new data is available)
*/
void update();
+ /**
+ * update all subscriptions
+ */
+ void forcedUpdate();
+
private:
void cleanup();
diff --git a/src/modules/uORB/Subscription.hpp b/src/modules/uORB/Subscription.hpp
index 70ffad289f..791695d837 100644
--- a/src/modules/uORB/Subscription.hpp
+++ b/src/modules/uORB/Subscription.hpp
@@ -125,13 +125,18 @@ public:
*/
virtual bool update() = 0;
+ /**
+ * Like update(), but does not check first if there is data available
+ */
+ virtual bool forcedUpdate() = 0;
+
};
/**
* Subscription wrapper class
*/
template<class T>
-class __EXPORT Subscription final : public SubscriptionNode
+class __EXPORT Subscription : public SubscriptionNode
{
public:
/**
@@ -150,7 +155,7 @@ public:
_data() // initialize data structure to zero
{}
- ~Subscription() override final = default;
+ ~Subscription() override = default;
// no copy, assignment, move, move assignment
Subscription(const Subscription &) = delete;
@@ -161,11 +166,16 @@ public:
/**
* Create an update function that uses the embedded struct.
*/
- bool update() override final
+ bool update() override
{
return SubscriptionBase::update((void *)(&_data));
}
+ bool forcedUpdate() override
+ {
+ return orb_copy(_meta, _handle, &_data) == PX4_OK;
+ }
+
/*
* This function gets the T struct data
* */
--
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