From aefd217fc0009432998f6e66abe028dd8c40c311 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 12 Aug 2016 08:58:33 +0200
Subject: [PATCH] uorb subscription: remove _interval & use orb_get_interval()
 instead

---
 src/modules/uORB/Subscription.cpp | 10 +++++-----
 src/modules/uORB/Subscription.hpp | 17 +++++++++--------
 2 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
index 071254c80e..f07cc4820a 100644
--- a/src/modules/uORB/Subscription.cpp
+++ b/src/modules/uORB/Subscription.cpp
@@ -84,7 +84,7 @@ SubscriptionBase::SubscriptionBase(const struct orb_metadata *meta,
 		_handle =  orb_subscribe(getMeta());
 	}
 
-	if (_handle < 0) { warnx("sub failed"); }
+	if (_handle < 0) { PX4_ERR("sub failed"); }
 
 	if (interval > 0) {
 		orb_set_interval(getHandle(), interval);
@@ -96,7 +96,7 @@ bool SubscriptionBase::updated()
 	bool isUpdated = false;
 	int ret = orb_check(_handle, &isUpdated);
 
-	if (ret != PX4_OK) { warnx("orb check failed"); }
+	if (ret != PX4_OK) { PX4_ERR("orb check failed"); }
 
 	return isUpdated;
 }
@@ -106,7 +106,7 @@ void SubscriptionBase::update(void *data)
 	if (updated()) {
 		int ret = orb_copy(_meta, _handle, data);
 
-		if (ret != PX4_OK) { warnx("orb copy failed"); }
+		if (ret != PX4_OK) { PX4_ERR("orb copy failed"); }
 	}
 }
 
@@ -114,7 +114,7 @@ SubscriptionBase::~SubscriptionBase()
 {
 	int ret = orb_unsubscribe(_handle);
 
-	if (ret != PX4_OK) { warnx("orb unsubscribe failed"); }
+	if (ret != PX4_OK) { PX4_ERR("orb unsubscribe failed"); }
 }
 
 template <class T>
@@ -129,7 +129,7 @@ Subscription<T>::Subscription(const struct orb_metadata *meta,
 
 template <class T>
 Subscription<T>::Subscription(const Subscription &other) :
-	SubscriptionNode(other._meta, other._interval, other._instance, nullptr),
+	SubscriptionNode(other._meta, other.getInterval(), other._instance, nullptr),
 	_data() // initialize data structure to zero
 {
 }
diff --git a/src/modules/uORB/Subscription.hpp b/src/modules/uORB/Subscription.hpp
index 7b55b4a2a0..0aa2232252 100644
--- a/src/modules/uORB/Subscription.hpp
+++ b/src/modules/uORB/Subscription.hpp
@@ -86,7 +86,14 @@ public:
 
 // accessors
 	const struct orb_metadata *getMeta() { return _meta; }
-	int getHandle() { return _handle; }
+	int getHandle() const { return _handle; }
+
+	unsigned getInterval() const
+	{
+		unsigned int interval;
+		orb_get_interval(getHandle(), &interval);
+		return interval;
+	}
 protected:
 // accessors
 	void setHandle(int handle) { _handle = handle; }
@@ -130,8 +137,7 @@ public:
 			 unsigned interval = 0,
 			 int instance = 0,
 			 List<SubscriptionNode *> *list = nullptr) :
-		SubscriptionBase(meta, interval, instance),
-		_interval(interval)
+		SubscriptionBase(meta, interval, instance)
 	{
 		if (list != nullptr) { list->add(this); }
 	}
@@ -141,11 +147,6 @@ public:
 	 * updates, a child class must implement it.
 	 */
 	virtual void update() = 0;
-// accessors
-	unsigned getInterval() { return _interval; }
-protected:
-// attributes
-	unsigned _interval;
 
 };