From 313ff2a6f2f9021185f6f604e4a7733fc52553d7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 18 Dec 2016 13:55:50 +0100 Subject: [PATCH] UAVCAN: Correct use of unsubscribe --- src/modules/uavcan/uavcan_main.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 9318a00ad8..ba16a2aff1 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -149,9 +149,9 @@ UavcanNode::~UavcanNode() } while (_task != -1); } - (void)::close(_armed_sub); - (void)::close(_test_motor_sub); - (void)::close(_actuator_direct_sub); + (void)orb_unsubscribe(_armed_sub); + (void)orb_unsubscribe(_test_motor_sub); + (void)orb_unsubscribe(_actuator_direct_sub); // Removing the sensor bridges auto br = _sensor_bridges.getHead(); @@ -1022,12 +1022,12 @@ UavcanNode::teardown() for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { - ::close(_control_subs[i]); + orb_unsubscribe(_control_subs[i]); _control_subs[i] = -1; } } - return (_armed_sub >= 0) ? ::close(_armed_sub) : 0; + return (_armed_sub >= 0) ? orb_unsubscribe(_armed_sub) : 0; } int @@ -1054,7 +1054,7 @@ UavcanNode::subscribe() if (unsub_groups & (1 << i)) { warnx("unsubscribe from actuator_controls_%d", i); - ::close(_control_subs[i]); + orb_unsubscribe(_control_subs[i]); _control_subs[i] = -1; }