Orb poll hrt

platforms/common/uORB/Subscription.hpp

@@ -143,17 +143,6 @@ class Subscription
 		return valid() ? Manager::orb_data_copy(_node, dst, _last_generation, true) : false;
 	}
 
-	void ack()
-	{
-		if (!valid()) {
-			subscribe();
-		}
-
-		if (valid()) {
-			Manager::orb_data_ack(_node, _last_generation);
-		}
-	}
-
 	/**
 	 * Copy the struct
 	 * @param dst The uORB message struct we are updating.

platforms/common/uORB/SubscriptionInterval.hpp

@@ -100,17 +100,6 @@ class SubscriptionInterval
 		return false;
 	}
 
-	/**
-	 * Acknowledge a new update.
-	 */
-	void ack()
-	{
-		_subscription.ack();
-		const hrt_abstime now = hrt_absolute_time();
-		// shift last update time forward, but don't let it get further behind than the interval
-		_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);
-	}
-
 	/**
 	 * Copy the struct if updated.
 	 * @param dst The destination pointer where the struct will be copied.

platforms/common/uORB/uORB.cpp

@@ -130,11 +130,6 @@ int orb_check(orb_sub_t handle, bool *updated)
 	return uORB::Manager::get_instance()->orb_check(handle, updated);
 }
 
-int orb_ack(orb_sub_t handle)
-{
-	return uORB::Manager::get_instance()->orb_ack(handle);
-}
-
 int orb_exists(const struct orb_metadata *meta, int instance)
 {
 	return uORB::Manager::orb_exists(meta, instance);

platforms/common/uORB/uORB.h

@@ -246,8 +246,6 @@ extern int	orb_copy(const struct orb_metadata *meta, orb_sub_t handle, void *buf
  */
 extern int	orb_check(orb_sub_t handle, bool *updated) __EXPORT;
 
-extern int	orb_ack(orb_sub_t handle) __EXPORT;
-
 /**
  * @see uORB::Manager::orb_exists()
  */

platforms/common/uORB/uORBDeviceNode.hpp

@@ -219,8 +219,6 @@ class DeviceNode
 	 */
 	bool copy(void *dst, orb_advert_t &handle, unsigned &generation);
 
-	void ack(unsigned &generation) { generation = _generation.load(); }
-
 	static bool register_callback(orb_advert_t &node_handle, SubscriptionCallback *callback_sub, int8_t poll_lock,
 				      hrt_abstime last_update, uint32_t interval_us, uorb_cb_handle_t &cb_handle)
 	{

platforms/common/uORB/uORBManager.cpp

@@ -365,12 +365,6 @@ int uORB::Manager::orb_check(orb_sub_t handle, bool *updated)
 	return PX4_OK;
 }
 
-int uORB::Manager::orb_ack(orb_sub_t handle)
-{
-	((uORB::SubscriptionInterval *)handle)->ack();
-	return PX4_OK;
-}
-
 int uORB::Manager::orb_set_interval(orb_sub_t handle, unsigned interval)
 {
 	((uORB::SubscriptionInterval *)handle)->set_interval_us(interval * 1000);

platforms/common/uORB/uORBManager.hpp

@@ -292,9 +292,6 @@ class Manager
 	 */
 	static int  orb_check(orb_sub_t handle, bool *updated);
 
-
-	static int  orb_ack(orb_sub_t handle);
-
 	/**
 	 * Check if a topic has already been created and published (advertised)
 	 *
@@ -360,11 +357,6 @@ class Manager
 
 	static uint8_t orb_get_queue_size(const orb_advert_t &node_handle) {return node(node_handle)->get_queue_size();}
 
-	static void orb_data_ack(orb_advert_t &node_handle, unsigned &generation)
-	{
-		node(node_handle)->ack(generation);
-	}
-
 	static bool orb_data_copy(orb_advert_t &node_handle, void *dst, unsigned &generation,
 				  bool only_if_updated)
 	{

src/modules/mavlink/Kconfig

@@ -24,11 +24,3 @@ menuconfig USER_MAVLINK
 	depends on BOARD_PROTECTED && MODULES_MAVLINK
 	---help---
 		Put mavlink in userspace memory
-
-menuconfig MAVLINK_UORB_POLL
-	bool "mavlink uorb poll in main loop"
-	default n
-	depends on MODULES_MAVLINK
-	---help---
-		Use uorb topic polling in mavlink main loop instead of
-		using px4_usleep for stream rate handling.

src/modules/mavlink/mavlink_main.cpp

@@ -134,10 +134,7 @@ Mavlink::Mavlink() :
 
 	_event_sub.subscribe();
 	_telemetry_status_pub.advertise();
-
-#if defined(CONFIG_MAVLINK_UORB_POLL)
 	_stream_poller = new MavlinkStreamPoll();
-#endif
 }
 
 Mavlink::~Mavlink()
@@ -179,13 +176,7 @@ Mavlink::~Mavlink()
 		}
 	}
 
-#if defined(CONFIG_MAVLINK_UORB_POLL)
-
-	if (_stream_poller) {
-		delete _stream_poller;
-	}
-
-#endif
+	delete _stream_poller;
 
 	perf_free(_loop_perf);
 	perf_free(_loop_interval_perf);
@@ -2337,30 +2328,23 @@ Mavlink::task_main(int argc, char *argv[])
 
 	_task_running.store(true);
 
-#if defined(CONFIG_MAVLINK_UORB_POLL)
-	int uorb_poll_error_counter = 0;
-#endif
+	int mavlink_poll_error_counter = 0;
 
 	while (!should_exit()) {
 		/* main loop */
-#if defined(CONFIG_MAVLINK_UORB_POLL)
-		int uorb_poll_ret = _stream_poller->poll(MAIN_LOOP_DELAY);
 
-		if (uorb_poll_ret < 0) {
+		int mavlink_poll_ret = _stream_poller->poll(MAIN_LOOP_DELAY);
+
+		if (mavlink_poll_ret < 0 && mavlink_poll_ret != -ETIMEDOUT) {
 			/* this is seriously bad - should be an emergency */
-			if (uorb_poll_error_counter < 10 || uorb_poll_error_counter % 50 == 0) {
+			if (mavlink_poll_error_counter < 10 || mavlink_poll_error_counter % 50 == 0) {
 				/* use a counter to prevent flooding (and slowing us down) */
-				PX4_ERR("ERROR while polling uorbs: %d", uorb_poll_ret);
+				PX4_ERR("ERROR while polling streams: %d", mavlink_poll_ret);
 			}
 
-			uorb_poll_error_counter++;
+			mavlink_poll_error_counter++;
 		}
 
-		_stream_poller->ack_all();
-#else
-		px4_usleep(_main_loop_delay);
-#endif
-
 		if (!should_transmit()) {
 			check_requested_subscriptions();
 			continue;
@@ -2881,43 +2865,13 @@ void Mavlink::configure_sik_radio()
 	}
 }
 
-
-int
-Mavlink::register_orb_poll(uint16_t stream_id, ORB_ID *orbs, int count)
-{
-#if defined(CONFIG_MAVLINK_UORB_POLL)
-	return _stream_poller->register_orbs(stream_id, orbs, count);
-#else
-	(void)stream_id;
-	(void)orbs;
-	(void)count;
-	return PX4_OK;
-#endif
-}
-
-int
-Mavlink::unregister_orb_poll(uint16_t stream_id)
-{
-#if defined(CONFIG_MAVLINK_UORB_POLL)
-	return _stream_poller->unregister_orbs(stream_id);
-#else
-	(void)stream_id;
-	return PX4_OK;
-#endif
-}
-
 int
 Mavlink::set_stream_interval(MavlinkStream *stream, int interval)
 {
 	stream->set_interval(interval);
-#if defined(CONFIG_MAVLINK_UORB_POLL)
-	return _stream_poller->set_interval(stream->get_id(), interval / 1000);
-#else
-	return PX4_OK;
-#endif
+	return _stream_poller->set_interval(stream->get_id(), interval);
 }
 
-
 int Mavlink::start_helper(int argc, char *argv[])
 {
 	/* create the instance in task context */

src/modules/mavlink/mavlink_main.h

@@ -524,18 +524,10 @@ class Mavlink final : public ModuleParams
 
 	bool radio_status_critical() const { return _radio_status_critical; }
 
-	/**
-	 * Register/Unregister a stream orbs for polling
-	 */
-	int register_orb_poll(uint16_t stream_id, ORB_ID *orbs, int count);
-	int unregister_orb_poll(uint16_t stream_id);
-
 	int set_stream_interval(MavlinkStream *stream, int interval);
 
 private:
-#if defined(CONFIG_MAVLINK_UORB_POLL)
 	MavlinkStreamPoll	*_stream_poller {nullptr};
-#endif
 
 	MavlinkReceiver 	_receiver;