mavlink: update streams to use orb polling

tiiuae · Apr 15, 2024 · aa9e6a0 · aa9e6a0
1 parent 436ee3a
commit aa9e6a0
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Showing 74 changed files with 1,029 additions and 70 deletions.
diff --git a/src/modules/mavlink/streams/ACTUATOR_OUTPUT_STATUS.hpp b/src/modules/mavlink/streams/ACTUATOR_OUTPUT_STATUS.hpp
@@ -53,7 +53,17 @@ class MavlinkStreamActuatorOutputStatus : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamActuatorOutputStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamActuatorOutputStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamActuatorOutputStatus()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] { ORB_ID::actuator_outputs };
 
 	uORB::Subscription _act_output_sub{ORB_ID(actuator_outputs)};
 

diff --git a/src/modules/mavlink/streams/ADSB_VEHICLE.hpp b/src/modules/mavlink/streams/ADSB_VEHICLE.hpp
@@ -55,7 +55,17 @@ class MavlinkStreamADSBVehicle : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamADSBVehicle()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] { ORB_ID::transponder_report };
 
 	uORB::Subscription _transponder_report_sub{ORB_ID(transponder_report)};
 

diff --git a/src/modules/mavlink/streams/ALTITUDE.hpp b/src/modules/mavlink/streams/ALTITUDE.hpp
@@ -56,7 +56,21 @@ class MavlinkStreamAltitude : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamAltitude(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamAltitude(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamAltitude()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[3] {
+		ORB_ID::vehicle_air_data,
+		ORB_ID::home_position,
+		ORB_ID::vehicle_local_position
+	};
 
 	uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
 	uORB::Subscription _home_sub{ORB_ID(home_position)};

diff --git a/src/modules/mavlink/streams/ATTITUDE.hpp b/src/modules/mavlink/streams/ATTITUDE.hpp
@@ -54,7 +54,20 @@ class MavlinkStreamAttitude : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamAttitude()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[2] {
+		ORB_ID::vehicle_attitude,
+		ORB_ID::vehicle_angular_velocity
+	};
 
 	uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};

diff --git a/src/modules/mavlink/streams/ATTITUDE_QUATERNION.hpp b/src/modules/mavlink/streams/ATTITUDE_QUATERNION.hpp
@@ -55,7 +55,22 @@ class MavlinkStreamAttitudeQuaternion : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamAttitudeQuaternion()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+
+	ORB_ID _orbs[3] {
+		ORB_ID::vehicle_attitude,
+		ORB_ID::vehicle_angular_velocity,
+		ORB_ID::vehicle_status
+	};
 
 	uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};

diff --git a/src/modules/mavlink/streams/ATTITUDE_TARGET.hpp b/src/modules/mavlink/streams/ATTITUDE_TARGET.hpp
@@ -54,7 +54,21 @@ class MavlinkStreamAttitudeTarget : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamAttitudeTarget()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+
+	ORB_ID _orbs[2] {
+		ORB_ID::vehicle_attitude_setpoint,
+		ORB_ID::vehicle_rates_setpoint
+	};
 
 	uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
 	uORB::Subscription _att_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};

diff --git a/src/modules/mavlink/streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp b/src/modules/mavlink/streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp
@@ -62,7 +62,25 @@ class MavlinkStreamAutopilotStateForGimbalDevice : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamAutopilotStateForGimbalDevice()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[6] {
+		ORB_ID::estimator_selector_status,
+		ORB_ID::estimator_status,
+		ORB_ID::vehicle_attitude,
+		ORB_ID::vehicle_local_position,
+		ORB_ID::vehicle_attitude_setpoint,
+		ORB_ID::vehicle_land_detected
+	};
+
 
 	uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
 	uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};

diff --git a/src/modules/mavlink/streams/BATTERY_STATUS.hpp b/src/modules/mavlink/streams/BATTERY_STATUS.hpp
@@ -54,7 +54,19 @@ class MavlinkStreamBatteryStatus : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamBatteryStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamBatteryStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamBatteryStatus()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] {
+		ORB_ID::battery_status
+	};
 
 	uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
 

diff --git a/src/modules/mavlink/streams/CAMERA_IMAGE_CAPTURED.hpp b/src/modules/mavlink/streams/CAMERA_IMAGE_CAPTURED.hpp
@@ -55,7 +55,19 @@ class MavlinkStreamCameraImageCaptured : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamCameraImageCaptured(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamCameraImageCaptured(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamCameraImageCaptured()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] {
+		ORB_ID::camera_capture
+	};
 
 	uORB::Subscription _capture_sub{ORB_ID(camera_capture)};
 

diff --git a/src/modules/mavlink/streams/CAMERA_TRIGGER.hpp b/src/modules/mavlink/streams/CAMERA_TRIGGER.hpp
@@ -61,7 +61,20 @@ class MavlinkStreamCameraTrigger : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamCameraTrigger()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[2] {
+		ORB_ID::camera_trigger,
+		ORB_ID::camera_status
+	};
 
 	uORB::Subscription _camera_trigger_sub{ORB_ID(camera_trigger)};
 	uORB::Subscription _camera_status_sub{ORB_ID(camera_status)};

diff --git a/src/modules/mavlink/streams/COLLISION.hpp b/src/modules/mavlink/streams/COLLISION.hpp
@@ -53,7 +53,19 @@ class MavlinkStreamCollision : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamCollision()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] {
+		ORB_ID::collision_report
+	};
 
 	uORB::Subscription _collision_sub{ORB_ID(collision_report)};
 

diff --git a/src/modules/mavlink/streams/COMMAND_LONG.hpp b/src/modules/mavlink/streams/COMMAND_LONG.hpp
@@ -53,7 +53,19 @@ class MavlinkStreamCommandLong : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamCommandLong()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] {
+		ORB_ID::vehicle_command
+	};
 
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 

diff --git a/src/modules/mavlink/streams/DEBUG.hpp b/src/modules/mavlink/streams/DEBUG.hpp
@@ -53,7 +53,19 @@ class MavlinkStreamDebug : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamDebug(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamDebug(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamDebug()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] {
+		ORB_ID::debug_value
+	};
 
 	uORB::Subscription _debug_value_sub{ORB_ID(debug_value)};
 

diff --git a/src/modules/mavlink/streams/DEBUG_FLOAT_ARRAY.hpp b/src/modules/mavlink/streams/DEBUG_FLOAT_ARRAY.hpp
@@ -53,7 +53,19 @@ class MavlinkStreamDebugFloatArray : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamDebugFloatArray(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamDebugFloatArray(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamDebugFloatArray()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] {
+		ORB_ID::debug_array
+	};
 
 	uORB::Subscription _debug_array_sub{ORB_ID(debug_array)};
 

diff --git a/src/modules/mavlink/streams/DEBUG_VECT.hpp b/src/modules/mavlink/streams/DEBUG_VECT.hpp
@@ -53,7 +53,19 @@ class MavlinkStreamDebugVect : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamDebugVect(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamDebugVect(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamDebugVect()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] {
+		ORB_ID::debug_vect
+	};
 
 	uORB::Subscription _debug_sub{ORB_ID(debug_vect)};
 

diff --git a/src/modules/mavlink/streams/DISTANCE_SENSOR.hpp b/src/modules/mavlink/streams/DISTANCE_SENSOR.hpp
@@ -54,7 +54,19 @@ class MavlinkStreamDistanceSensor : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamDistanceSensor()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] {
+		ORB_ID::distance_sensor
+	};
 
 	uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
 

diff --git a/src/modules/mavlink/streams/EFI_STATUS.hpp b/src/modules/mavlink/streams/EFI_STATUS.hpp
@@ -54,7 +54,19 @@ class MavlinkStreamEfiStatus : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamEfiStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamEfiStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamEfiStatus()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] {
+		ORB_ID::internal_combustion_engine_status
+	};
 
 	uORB::Subscription _internal_combustion_engine_status_sub{ORB_ID(internal_combustion_engine_status)};
 

diff --git a/src/modules/mavlink/streams/ESC_INFO.hpp b/src/modules/mavlink/streams/ESC_INFO.hpp
@@ -54,7 +54,19 @@ class MavlinkStreamESCInfo : public MavlinkStream
 	}
 
 private:
-	explicit MavlinkStreamESCInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamESCInfo(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{
+		mavlink->register_orb_poll(get_id_static(), _orbs, arraySize(_orbs));
+	}
+
+	~MavlinkStreamESCInfo()
+	{
+		_mavlink->unregister_orb_poll(get_id_static());
+	}
+
+	ORB_ID _orbs[1] {
+		ORB_ID::esc_status
+	};
 
 	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
 	uint8_t _number_of_batches{0};