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update most parameter_update to uORB::Subscription consistently #12572

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merged 1 commit into from
Sep 29, 2019
Merged

update most parameter_update to uORB::Subscription consistently #12572

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8 changes: 6 additions & 2 deletions src/drivers/heater/heater.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -292,9 +292,13 @@ float Heater::temperature_setpoint(char *argv[])

void Heater::update_params(const bool force)
{
parameter_update_s param_update;
// check for parameter updates
if (_parameter_update_sub.updated() || force) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);

if (_params_sub.update(&param_update) || force) {
// update parameters from storage
ModuleParams::updateParams();
}
}
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2 changes: 1 addition & 1 deletion src/drivers/heater/heater.h
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Original file line number Diff line number Diff line change
Expand Up @@ -174,7 +174,7 @@ class Heater : public ModuleBase<Heater>, public ModuleParams, public px4::Sched

float _integrator_value = 0.0f;

uORB::Subscription _params_sub{ORB_ID(parameter_update)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};

float _proportional_value = 0.0f;

Expand Down
9 changes: 6 additions & 3 deletions src/drivers/lights/rgbled/rgbled.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,8 @@ class RGBLED : public device::I2C, public px4::ScheduledWorkItem
volatile bool _running{false};
volatile bool _should_run{true};
bool _leds_enabled{true};
uORB::Subscription _param_sub{ORB_ID(parameter_update)};

uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};

LedController _led_controller;

Expand Down Expand Up @@ -202,11 +203,13 @@ RGBLED::Run()
return;
}

if (_param_sub.updated()) {
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_param_sub.copy(&pupdate);
_parameter_update_sub.copy(&pupdate);

// update parameters from storage
update_params();

// Immediately update to change brightness
Expand Down
9 changes: 6 additions & 3 deletions src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,8 @@ class RGBLED_NPC5623C : public device::I2C, public px4::ScheduledWorkItem
volatile bool _running{false};
volatile bool _should_run{true};
bool _leds_enabled{true};
uORB::Subscription _param_sub{ORB_ID(parameter_update)};

uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};

LedController _led_controller;

Expand Down Expand Up @@ -166,11 +167,13 @@ RGBLED_NPC5623C::Run()
return;
}

if (_param_sub.updated()) {
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_param_sub.copy(&pupdate);
_parameter_update_sub.copy(&pupdate);

// update parameters from storage
update_params();

// Immediately update to change brightness
Expand Down
21 changes: 8 additions & 13 deletions src/drivers/linux_pwm_out/linux_pwm_out.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@
#include <px4_getopt.h>
#include <px4_posix.h>

#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
Expand Down Expand Up @@ -260,7 +260,7 @@ void task_main(int argc, char *argv[])

Mixer::Airmode airmode = Mixer::Airmode::disabled;
update_params(airmode);
int params_sub = orb_subscribe(ORB_ID(parameter_update));
uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};

int rc_channels_sub = -1;

Expand Down Expand Up @@ -418,16 +418,15 @@ void task_main(int argc, char *argv[])
_task_should_exit = true;
}

/* check for parameter updates */
bool param_updated = false;
orb_check(params_sub, &param_updated);
// check for parameter updates
if (parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
parameter_update_sub.copy(&pupdate);

if (param_updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), params_sub, &update);
// update parameters from storage
update_params(airmode);
}

}

delete pwm_out;
Expand All @@ -447,10 +446,6 @@ void task_main(int argc, char *argv[])
orb_unsubscribe(rc_channels_sub);
}

if (params_sub != -1) {
orb_unsubscribe(params_sub);
}

perf_free(_perf_control_latency);

_is_running = false;
Expand Down
17 changes: 9 additions & 8 deletions src/drivers/pwm_out_sim/PWMSim.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@
#include <px4_time.h>
#include <mathlib/mathlib.h>

#include <uORB/Subscription.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/multirotor_motor_limits.h>

PWMSim::PWMSim() :
Expand Down Expand Up @@ -162,7 +164,7 @@ PWMSim::run()
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));

update_params();
int params_sub = orb_subscribe(ORB_ID(parameter_update));
uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};

/* loop until killed */
while (!should_exit()) {
Expand Down Expand Up @@ -323,13 +325,13 @@ PWMSim::run()
}
}

/* check for parameter updates */
bool param_updated = false;
orb_check(params_sub, &param_updated);
// check for parameter updates
if (parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
parameter_update_sub.copy(&pupdate);

if (param_updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), params_sub, &update);
// update parameters from storage
update_params();
}
}
Expand All @@ -341,7 +343,6 @@ PWMSim::run()
}

orb_unsubscribe(_armed_sub);
orb_unsubscribe(params_sub);
}

int
Expand Down
14 changes: 8 additions & 6 deletions src/drivers/px4fmu/fmu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -177,7 +177,7 @@ class PX4FMU : public cdev::CDev, public ModuleBase<PX4FMU>, public OutputModule

unsigned _current_update_rate{0};

uORB::Subscription _param_sub{ORB_ID(parameter_update)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};


unsigned _num_outputs{0};
Expand Down Expand Up @@ -767,7 +767,13 @@ PX4FMU::Run()
update_pwm_out_state(pwm_on);
}

if (_param_sub.updated()) {
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);

// update parameters from storage
update_params();
}

Expand All @@ -783,16 +789,12 @@ PX4FMU::Run()

void PX4FMU::update_params()
{
parameter_update_s pupdate;
_param_sub.update(&pupdate);

update_pwm_rev_mask();
update_pwm_trims();

updateParams();
}


int
PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
{
Expand Down
12 changes: 8 additions & 4 deletions src/drivers/px4io/px4io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -256,7 +256,7 @@ class PX4IO : public cdev::CDev
uORB::Subscription _t_actuator_controls_3{ORB_ID(actuator_controls_3)};; ///< actuator controls group 3 topic
uORB::Subscription _t_actuator_armed{ORB_ID(actuator_armed)}; ///< system armed control topic
uORB::Subscription _t_vehicle_control_mode{ORB_ID(vehicle_control_mode)}; ///< vehicle control mode topic
uORB::Subscription _t_param{ORB_ID(parameter_update)}; ///< parameter update topic
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; ///< parameter update topic
uORB::Subscription _t_vehicle_command{ORB_ID(vehicle_command)}; ///< vehicle command topic

bool _param_update_force; ///< force a parameter update
Expand Down Expand Up @@ -997,10 +997,14 @@ PX4IO::task_main()
*
* XXX this may be a bit spammy
*/
if (_t_param.updated() || _param_update_force) {
_param_update_force = false;

// check for parameter updates
if (_parameter_update_sub.updated() || _param_update_force) {
// clear update
parameter_update_s pupdate;
_t_param.copy(&pupdate);
_parameter_update_sub.copy(&pupdate);

_param_update_force = false;

if (!_rc_handling_disabled) {
/* re-upload RC input config as it may have changed */
Expand Down
17 changes: 8 additions & 9 deletions src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@
#include <cmath> // NAN
#include <string.h>

#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
Expand Down Expand Up @@ -357,7 +357,7 @@ void task_main(int argc, char *argv[])

Mixer::Airmode airmode = Mixer::Airmode::disabled;
update_params(airmode);
int params_sub = orb_subscribe(ORB_ID(parameter_update));
uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};

// Start disarmed
_armed.armed = false;
Expand Down Expand Up @@ -471,13 +471,13 @@ void task_main(int argc, char *argv[])
}
}

/* check for parameter updates */
bool param_updated = false;
orb_check(params_sub, &param_updated);
// check for parameter updates
if (parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
parameter_update_sub.copy(&pupdate);

if (param_updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), params_sub, &update);
// update parameters from storage
update_params(airmode);
}
}
Expand All @@ -491,7 +491,6 @@ void task_main(int argc, char *argv[])
}

orb_unsubscribe(_armed_sub);
orb_unsubscribe(params_sub);

perf_free(_perf_control_latency);

Expand Down
20 changes: 10 additions & 10 deletions src/drivers/tap_esc/tap_esc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@
#include <lib/cdev/CDev.hpp>
#include <perf/perf_counter.h>
#include <px4_module_params.h>
#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
Expand Down Expand Up @@ -114,7 +114,9 @@ class TAP_ESC : public cdev::CDev, public ModuleBase<TAP_ESC>, public ModulePara
bool _is_armed = false;
int _armed_sub = -1;
int _test_motor_sub = -1;
int _params_sub = -1;

uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};

orb_advert_t _outputs_pub = nullptr;
actuator_outputs_s _outputs = {};
actuator_armed_s _armed = {};
Expand Down Expand Up @@ -191,7 +193,6 @@ TAP_ESC::~TAP_ESC()

orb_unsubscribe(_armed_sub);
orb_unsubscribe(_test_motor_sub);
orb_unsubscribe(_params_sub);

orb_unadvertise(_outputs_pub);
orb_unadvertise(_esc_feedback_pub);
Expand Down Expand Up @@ -336,7 +337,6 @@ int TAP_ESC::init()

_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_test_motor_sub = orb_subscribe(ORB_ID(test_motor));
_params_sub = orb_subscribe(ORB_ID(parameter_update));

return ret;
}
Expand Down Expand Up @@ -609,13 +609,13 @@ void TAP_ESC::cycle()

}

/* check for parameter updates */
bool param_updated = false;
orb_check(_params_sub, &param_updated);
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);

if (param_updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
// update parameters from storage
updateParams();
}
}
Expand Down
17 changes: 8 additions & 9 deletions src/drivers/uavcan/uavcan_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@
#include <arch/board/board.h>
#include <arch/chip/chip.h>

#include <uORB/Subscription.hpp>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/parameter_update.h>

Expand Down Expand Up @@ -810,17 +811,17 @@ int UavcanNode::run()

update_params();

int params_sub = orb_subscribe(ORB_ID(parameter_update));
uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};

while (!_task_should_exit) {

/* check for parameter updates */
bool param_updated = false;
orb_check(params_sub, &param_updated);
// check for parameter updates
if (parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
parameter_update_sub.copy(&pupdate);

if (param_updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), params_sub, &update);
// update parameters from storage
update_params();
}

Expand Down Expand Up @@ -995,8 +996,6 @@ int UavcanNode::run()
}
}

orb_unsubscribe(params_sub);

(void)::close(busevent_fd);

teardown();
Expand Down
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