lib/dataman: Port dataman/datamanclient to new uORB

tiiuae · Dec 7, 2023 · a918610 · a918610
1 parent 85c842a
commit a918610
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/src/lib/dataman_client/DatamanClient.cpp b/src/lib/dataman_client/DatamanClient.cpp
@@ -42,7 +42,7 @@ DatamanClient::DatamanClient()
 	_dataman_request_pub.advertise();
 	_dataman_response_sub = orb_subscribe(ORB_ID(dataman_response));
 
-	if (_dataman_response_sub < 0) {
+	if (!orb_sub_valid(_dataman_response_sub)) {
 		PX4_ERR("Failed to subscribe (%i)", errno);
 
 	} else {
@@ -74,7 +74,7 @@ DatamanClient::DatamanClient()
 
 DatamanClient::~DatamanClient()
 {
-	if (_dataman_response_sub >= 0) {
+	if (orb_sub_valid(_dataman_response_sub)) {
 		orb_unsubscribe(_dataman_response_sub);
 	}
 }

diff --git a/src/lib/dataman_client/DatamanClient.hpp b/src/lib/dataman_client/DatamanClient.hpp
@@ -32,6 +32,8 @@
  ****************************************************************************/
 #pragma once
 
+#include <px4_platform_common/posix.h>
+
 #include <uORB/uORB.h>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
@@ -178,7 +180,7 @@ class DatamanClient
 	Request _active_request{};
 	uint8_t _response_status{};
 
-	int32_t _dataman_response_sub{};
+	orb_sub_t _dataman_response_sub{};
 	uORB::Publication<dataman_request_s> _dataman_request_pub{ORB_ID(dataman_request)};
 
 	px4_pollfd_struct_t _fds;

diff --git a/src/modules/dataman/dataman.cpp b/src/modules/dataman/dataman.cpp
@@ -655,9 +655,9 @@ task_main(int argc, char *argv[])
 	g_task_should_exit = false;
 
 	uORB::Publication<dataman_response_s> dataman_response_pub{ORB_ID(dataman_response)};
-	const int dataman_request_sub = orb_subscribe(ORB_ID(dataman_request));
+	const orb_sub_t dataman_request_sub = orb_subscribe(ORB_ID(dataman_request));
 
-	if (dataman_request_sub < 0) {
+	if (orb_sub_valid(dataman_request_sub)) {
 		PX4_ERR("Failed to subscribe (%i)", errno);
 	}