dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Qshell static subscription (#21081) 

* Changed QShell uorb subscription to be static to avoid the duplicate sequence number error
This commit is contained in:
Eric Katzfey 2023-02-07 14:18:01 -08:00 committed by GitHub
parent 7b3befded5
commit db24c2b233
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 12 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/drivers/qshell/posix/qshell.cpp
View File

@ -47,9 +47,19 @@
// Static variables
px4::AppState QShell::appState;
uint32_t QShell::_current_sequence{0};
uORB::Subscription *QShell::_qshell_retval_sub{nullptr};
int QShell::main(std::vector<std::string> argList)
{
if (_qshell_retval_sub == nullptr) {
_qshell_retval_sub = new uORB::Subscription(ORB_ID(qshell_retval));
if (_qshell_retval_sub == nullptr) {
PX4_ERR("Couldn't initialilze Qshell response subscription");
}
}
int ret = _send_cmd(argList);
if (ret != 0) {
@ -109,7 +119,7 @@ int QShell::_wait_for_retval()
memset(&retval, 0, sizeof(qshell_retval_s));
while (hrt_elapsed_time(&time_started_us) < QSHELL_RESPONSE_WAIT_TIME_US) {
if (_qshell_retval_sub.update(&retval)) {
if (_qshell_retval_sub->update(&retval)) {
if (retval.return_sequence != _current_sequence) {
PX4_WARN("Ignoring return value with wrong sequence");

2
src/drivers/qshell/posix/qshell.h
View File

@ -58,7 +58,7 @@ private:
uORB::Publication<qshell_req_s> _qshell_req_pub{ORB_ID(qshell_req)};
uORB::Subscription _qshell_retval_sub{ORB_ID(qshell_retval)};
static uORB::Subscription *_qshell_retval_sub;
static uint32_t _current_sequence;
};