UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-24 15:27:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactor(uORB): hoist Publication advertise/publish to base (#27526)

Browse Source 
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Jacob Dahl
2026-05-31 00:41:49 -04:00
committed by GitHub
parent 0cb985291a
commit e17d81af21
1 changed files with 20 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
platforms/common/uORB/Publication.hpp
View File

@@ -54,6 +54,15 @@ public:
bool advertised() const { return _handle != nullptr; }
bool advertise()
{
if (!advertised()) {
_handle = orb_advertise(get_topic(), nullptr);
}
return advertised();
}
bool unadvertise() { return (Manager::orb_unadvertise(_handle) == PX4_OK); }
orb_id_t get_topic() const { return get_orb_meta(_orb_id); }
@@ -72,6 +81,16 @@ protected:
}
}
// type-independent publish; data points to a message of the topic's type
bool publish(const void *data)
{
if (!advertised()) {
advertise();
}
return (Manager::orb_publish(get_topic(), _handle, data) == PX4_OK);
}
orb_advert_t _handle{nullptr};
const ORB_ID _orb_id;
};
@@ -92,27 +111,11 @@ public:
Publication(ORB_ID id) : PublicationBase(id) {}
Publication(const orb_metadata *meta) : PublicationBase(static_cast<ORB_ID>(meta->o_id)) {}
bool advertise()
{
if (!advertised()) {
_handle = orb_advertise(get_topic(), nullptr);
}
return advertised();
}
/**
* Publish the struct
* @param data The uORB message struct we are updating.
*/
bool publish(const T &data)
{
if (!advertised()) {
advertise();
}
return (Manager::orb_publish(get_topic(), _handle, &data) == PX4_OK);
}
bool publish(const T &data) { return PublicationBase::publish(&data); }
};
/**