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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-28 16:08:51 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-28 16:08:51 +0100 |
| commit | a9c1e4ad6145485805366fad5c08ae7351886ff3 (patch) | |
| tree | a32520d33cb1c5b1cf32d6fc640c77634816099b /src/platforms/px4_nodehandle.h | |
| parent | cefccc0037f18275b8d8c7e49e15d13801ef28a1 (diff) | |
| download | px4-firmware-a9c1e4ad6145485805366fad5c08ae7351886ff3.tar.gz px4-firmware-a9c1e4ad6145485805366fad5c08ae7351886ff3.tar.bz2 px4-firmware-a9c1e4ad6145485805366fad5c08ae7351886ff3.zip | |
make px4::ok work, use it in px4::spin
Diffstat (limited to 'src/platforms/px4_nodehandle.h')
| -rw-r--r-- | src/platforms/px4_nodehandle.h | 19 |
1 files changed, 17 insertions, 2 deletions
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h index ced844fd5..eb90590e4 100644 --- a/src/platforms/px4_nodehandle.h +++ b/src/platforms/px4_nodehandle.h @@ -41,6 +41,7 @@ /* includes for all platforms */ #include "px4_subscriber.h" #include "px4_publisher.h" +#include "px4_middleware.h" #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__)) /* includes when building for ros */ @@ -126,10 +127,24 @@ public: return pub; } - void spinOnce(); + void spinOnce() { + /* Loop through subscriptions, call callback for updated subscriptions */ + uORB::SubscriptionNode *sub = _subs.getHead(); + int count = 0; + + while (sub != nullptr) { + if (count++ > kMaxSubscriptions) { + PX4_WARN("exceeded max subscriptions"); + break; + } + + sub->update(); + sub = sub->getSibling(); + } + } void spin() { - while (true) { //XXX check for termination + while (ok()) { const int timeout_ms = 100; /* Only continue in the loop if the nodehandle has subscriptions */ if (_sub_min_interval == nullptr) { |