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- delete SubscriptionArray - all FlightTasks are now responsible for updating their own subscriptions (typically in updateInitialize()).sbg
Daniel Agar
5 years ago
committed by
GitHub
22 changed files with 192 additions and 507 deletions
@ -1,85 +0,0 @@
@@ -1,85 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (c) 2017 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#include "SubscriptionArray.hpp" |
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#include <string.h> |
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SubscriptionArray::~SubscriptionArray() |
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{ |
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cleanup(); |
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} |
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void SubscriptionArray::cleanup() |
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{ |
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for (int i = 0; i < _subscriptions_count; ++i) { |
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delete _subscriptions[i]; |
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} |
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delete[] _subscriptions; |
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_subscriptions = nullptr; |
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} |
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bool SubscriptionArray::resizeSubscriptions() |
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{ |
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const int new_size = _subscriptions_size == 0 ? 4 : _subscriptions_size * 2; |
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uORB::SubscriptionPollableNode **new_array = new uORB::SubscriptionPollableNode*[new_size]; |
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if (!new_array) { |
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return false; |
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} |
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if (_subscriptions) { |
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memcpy(new_array, _subscriptions, sizeof(uORB::SubscriptionPollableNode *)*_subscriptions_count); |
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delete[] _subscriptions; |
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} |
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_subscriptions = new_array; |
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_subscriptions_size = new_size; |
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return true; |
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} |
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void SubscriptionArray::update() |
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{ |
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for (int i = 0; i < _subscriptions_count; ++i) { |
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_subscriptions[i]->update(); |
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} |
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} |
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void SubscriptionArray::forcedUpdate() |
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{ |
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for (int i = 0; i < _subscriptions_count; ++i) { |
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_subscriptions[i]->forcedUpdate(); |
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} |
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} |
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@ -1,112 +0,0 @@
@@ -1,112 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (c) 2017 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
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* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file SubscriptionArray.hpp |
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* |
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* Simple array that contains a dynamic amount of Subscription<T> instances |
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* |
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* @author Beat Küng <beat-kueng@gmx.net> |
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*/ |
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#pragma once |
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#include <uORB/SubscriptionPollable.hpp> |
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class SubscriptionArray |
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{ |
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public: |
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SubscriptionArray() = default; |
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~SubscriptionArray(); |
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/**
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* Get a subscription |
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* @param meta ORB_ID(topic) |
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* @param subscription returned subscription (output parameter) |
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* @param instance topic instance |
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* @return true on success, false otherwise (subscription set to nullptr) |
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*/ |
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template<class T> |
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bool get(const struct orb_metadata *meta, uORB::SubscriptionPollable<T> *&subscription, unsigned instance = 0); |
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/**
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* update all subscriptions (if new data is available) |
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*/ |
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void update(); |
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/**
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* update all subscriptions |
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*/ |
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void forcedUpdate(); |
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private: |
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void cleanup(); |
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bool resizeSubscriptions(); |
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uORB::SubscriptionPollableNode **_subscriptions{nullptr}; |
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int _subscriptions_count{0}; ///< number of valid subscriptions
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int _subscriptions_size{0}; ///< actual size of the _subscriptions array
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}; |
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template<class T> |
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bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::SubscriptionPollable<T> *&subscription, |
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unsigned instance) |
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{ |
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// does it already exist?
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for (int i = 0; i < _subscriptions_count; ++i) { |
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if (_subscriptions[i]->getMeta() == meta && _subscriptions[i]->getInstance() == instance) { |
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// we know the type must be correct, so we can use reinterpret_cast (dynamic_cast is not available)
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subscription = reinterpret_cast<uORB::SubscriptionPollable<T>*>(_subscriptions[i]); |
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return true; |
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} |
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} |
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// resize if needed
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if (_subscriptions_count >= _subscriptions_size) { |
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if (!resizeSubscriptions()) { |
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subscription = nullptr; |
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return false; |
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} |
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} |
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subscription = new uORB::SubscriptionPollable<T>(meta, 0, instance); |
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if (!subscription) { |
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return false; |
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} |
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_subscriptions[_subscriptions_count++] = subscription; |
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return true; |
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} |
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