diff options
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 5 | ||||
-rw-r--r-- | src/modules/uORB/topics/actuator_outputs.h | 8 | ||||
-rw-r--r-- | src/modules/uORB/uORB.h | 58 |
3 files changed, 32 insertions, 39 deletions
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 4a41aa465..ba1ac0350 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -196,10 +196,7 @@ ORB_DEFINE(actuator_controls_virtual_fw, struct actuator_controls_s); ORB_DEFINE(actuator_armed, struct actuator_armed_s); #include "topics/actuator_outputs.h" -ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s); -ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s); -ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s); -ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s); +ORB_DEFINE(actuator_outputs, struct actuator_outputs_s); #include "topics/actuator_direct.h" ORB_DEFINE(actuator_direct, struct actuator_direct_s); diff --git a/src/modules/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h index 446140423..5f8f6d83e 100644 --- a/src/modules/uORB/topics/actuator_outputs.h +++ b/src/modules/uORB/topics/actuator_outputs.h @@ -68,12 +68,6 @@ struct actuator_outputs_s { */ /* actuator output sets; this list can be expanded as more drivers emerge */ -ORB_DECLARE(actuator_outputs_0); -ORB_DECLARE(actuator_outputs_1); -ORB_DECLARE(actuator_outputs_2); -ORB_DECLARE(actuator_outputs_3); - -/* output sets with pre-defined applications */ -#define ORB_ID_VEHICLE_CONTROLS ORB_ID(actuator_outputs_0) +ORB_DECLARE(actuator_outputs); #endif
\ No newline at end of file diff --git a/src/modules/uORB/uORB.h b/src/modules/uORB/uORB.h index 30cd59880..9c33c8a3e 100644 --- a/src/modules/uORB/uORB.h +++ b/src/modules/uORB/uORB.h @@ -87,33 +87,6 @@ enum ORB_PRIO { #define ORB_ID(_name) &__orb_##_name /** - * Generates a pointer to the uORB metadata structure for - * a given topic. - * - * The topic must have been declared previously in scope - * with ORB_DECLARE(). - * - * @param _name The name of the topic. - * @param _count The class ID of the topic - */ -#define ORB_ID_DOUBLE(_name, _count) ((_count == CLASS_DEVICE_PRIMARY) ? &__orb_##_name##0 : &__orb_##_name##1) - -/** - * Generates a pointer to the uORB metadata structure for - * a given topic. - * - * The topic must have been declared previously in scope - * with ORB_DECLARE(). - * - * @param _name The name of the topic. - * @param _count The class ID of the topic - */ -#define ORB_ID_TRIPLE(_name, _count) \ - ((_count == CLASS_DEVICE_PRIMARY) ? &__orb_##_name##0 : \ - ((_count == CLASS_DEVICE_SECONDARY) ? &__orb_##_name##1 : \ - (((_count == CLASS_DEVICE_TERTIARY) ? &__orb_##_name##2 : 0)))) - -/** * Declare (prototype) the uORB metadata for a topic. * * Note that optional topics are declared weak; this allows a potential @@ -147,7 +120,7 @@ enum ORB_PRIO { #define ORB_DEFINE(_name, _struct) \ const struct orb_metadata __orb_##_name = { \ #_name, \ - sizeof(_struct), \ + sizeof(_struct) \ }; struct hack __BEGIN_DECLS @@ -257,6 +230,35 @@ extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, con */ extern int orb_subscribe(const struct orb_metadata *meta) __EXPORT; +/** + * Subscribe to a multi-instance of a topic. + * + * The returned value is a file descriptor that can be passed to poll() + * in order to wait for updates to a topic, as well as topic_read, + * orb_check and orb_stat. + * + * Subscription will succeed even if the topic has not been advertised; + * in this case the topic will have a timestamp of zero, it will never + * signal a poll() event, checking will always return false and it cannot + * be copied. When the topic is subsequently advertised, poll, check, + * stat and copy calls will react to the initial publication that is + * performed as part of the advertisement. + * + * Subscription will fail if the topic is not known to the system, i.e. + * there is nothing in the system that has declared the topic and thus it + * can never be published. + * + * @param meta The uORB metadata (usually from the ORB_ID() macro) + * for the topic. + * @param instance The instance of the topic. Instance 0 matches the + * topic of the orb_subscribe() call, higher indices + * are for topics created with orb_publish_multi(). + * @return ERROR on error, otherwise returns a handle + * that can be used to read and update the topic. + * If the topic in question is not known (due to an + * ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE) + * this function will return -1 and set errno to ENOENT. + */ extern int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance) __EXPORT; /** |