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Improve uorb subscription interval handling #648

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merged 1 commit into from
Feb 23, 2024
Merged

Improve uorb subscription interval handling #648

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5 changes: 3 additions & 2 deletions platforms/common/uORB/SubscriptionCallback.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -199,10 +199,11 @@ class SubscriptionPollable : public SubscriptionInterval
* Constructor
*
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
* @param interval The requested maximum update interval in microseconds.
* @param instance The instance for multi sub.
*/
SubscriptionPollable(const orb_metadata *meta, uint8_t instance = 0) :
SubscriptionInterval(meta, 0, instance)
SubscriptionPollable(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) :
SubscriptionInterval(meta, interval_us, instance)
{
}

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4 changes: 3 additions & 1 deletion platforms/common/uORB/SubscriptionInterval.hpp
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Expand Up @@ -62,6 +62,7 @@ class SubscriptionInterval
*/
SubscriptionInterval(ORB_ID id, uint32_t interval_us = 0, uint8_t instance = 0) :
_subscription{id, instance},
_last_update(hrt_absolute_time() - interval_us),
_interval_us(interval_us)
{}

Expand All @@ -74,6 +75,7 @@ class SubscriptionInterval
*/
SubscriptionInterval(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) :
_subscription{meta, instance},
_last_update(hrt_absolute_time() - interval_us),
_interval_us(interval_us)
{}

Expand Down Expand Up @@ -140,7 +142,7 @@ class SubscriptionInterval
* Set the interval in microseconds
* @param interval The interval in microseconds.
*/
void set_interval_us(uint32_t interval) { _interval_us = interval; }
void set_interval_us(uint32_t interval) { _interval_us = interval; _last_update = hrt_absolute_time() - interval; }

/**
* Set the interval in milliseconds
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2 changes: 1 addition & 1 deletion platforms/common/uORB/uORBManager.cpp
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Expand Up @@ -333,7 +333,7 @@ orb_sub_t uORB::Manager::orb_subscribe(const struct orb_metadata *meta)
// Should only be called from old interface
orb_sub_t uORB::Manager::orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
{
uORB::SubscriptionInterval *sub = new uORB::SubscriptionPollable(meta, instance);
uORB::SubscriptionInterval *sub = new uORB::SubscriptionPollable(meta, 0, instance);

if (sub && !sub->valid()) {
// subscribe and advertise the topic
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